Computational robot dynamics: Foundations and applications

In 1984, the authors unveiled the computer program Algebraic Robot Modeler (ARM) for the symbolic generation of complete closed-form dynamic robot models. In this paper, we introduce computational robot dynamics as the synthesis of classical mechanics and computer software for the symbolic and numeric modeling of robotic mechanisms, and branch-out in three directions. First, we outline the foundations of computational robot dynamics. From its inception (in 1973), we review chronologically the contributions of prominent roboticists, tracing the parallel development of robot dynamics formulations and computational robot dynamics. We then highlight our research activities, the current capabilities of ARM, and our plans for the continuing development and application of ARM and computational robot dynamics. Finally, we focus on practical applications of computational robot dynamics. We apply ARM to produce examples illustrating the comparative computational requirements of robot dynamics formulations for symbolic processing and customized algorithms for numeric processing.

[1]  Pradeep K. Khosla,et al.  Computational requirements of customized Newton-Euler algorithms , 1985, J. Field Robotics.

[2]  William M. Silver.  On the Equivalence of Lagrangian and Newton-Euler Dynamics for Manipulators , 1982 .

[3]  J. Y. S. LUH,et al.  Scheduling of Parallel Computation for a Computer-Controlled Mechanical Manipulator , 1982, IEEE Transactions on Systems, Man, and Cybernetics.

[4]  Charles P. Neuman,et al.  Discrete dynamic robot models , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[5]  David E. Orin,et al.  Pipeline/Parallel algorithms for the jacobian and inverse dynamics computations , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[6]  C. S. George Lee,et al.  Robot Arm Kinematics, Dynamics, and Control , 1982, Computer.

[7]  Bruno Buchberger,et al.  Computer algebra symbolic and algebraic computation , 1982, SIGS.

[8]  David E. Orin,et al.  Kinematic and kinetic analysis of open-chain linkages utilizing Newton-Euler methods , 1979 .

[9]  Thomas R. Kane,et al.  The Use of Kane's Dynamical Equations in Robotics , 1983 .

[10]  J. Y. S. Luh,et al.  On-Line Computational Scheme for Mechanical Manipulators , 1980 .

[11]  B. R. Markiewicz,et al.  Analysis of the computed torque drive method and comparison with conventional position servo for a computer-controlled manipulator , 1973 .

[12]  M. Vukobratovic,et al.  Dynamics of articulated open-chain active mechanisms , 1976 .

[13]  David E. Orin,et al.  Efficient Dynamic Computer Simulation of Robotic Mechanisms , 1982 .

[14]  Bernard Roth,et al.  The Near-Minimum-Time Control Of Open-Loop Articulated Kinematic Chains , 1971 .

[15]  J. Y. S. Luh,et al.  Resolved-acceleration control of mechanical manipulators , 1980 .

[16]  Charles P. Neuman,et al.  Identification of Robot Dynamics: An Application of Recursive Estimation , 1986 .

[17]  Charles P. Neuman,et al.  The inertial characteristics of dynamic robot models , 1985 .

[18]  Veljko Potkonjak,et al.  Dynamics of Manipulation Robots , 1982 .

[19]  David E. Orin,et al.  Control of Force Distribution in Robotic Mechanisms Containing Closed Kinematic Chains , 1981 .

[20]  John M. Hollerbach,et al.  A Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity , 1980, IEEE Transactions on Systems, Man, and Cybernetics.

[21]  Charles P. Neuman,et al.  Inverse dynamics applications of discrete robot models , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[22]  John J. Murray,et al.  Linearization and sensitivity functions of dynamic robot models , 1984, IEEE Transactions on Systems, Man, and Cybernetics.

[23]  R. Featherstone.  The Calculation of Robot Dynamics Using Articulated-Body Inertias , 1983 .

[24]  Stephen Roy Dillon.  Computer assisted equation generation in linkage dynamics , 1973 .