An efficient algorithm for generating manipulator inertia matrix using the minimum set of dynamics parameters

Abstract

This article presents an efficient algorithm for computing the inertia matrix of rigid serial manipulators. The derivation of the algorithm is based on the closed‐form formulation of the force and moment exerted on a link using a minimum set of dynamic parameters of the manipulator model. The minimum set of dynamic parameters can be derived completely from the original dynamic parameters using the recursive re‐grouping method before starting the simulation and the control. The proposed computation method is suitable for the control and the simulation based on parameter estimates because the minimum set of dynamic parameters is an identifiable parameter set. The computational efficiency of the proposed methods is compared with other published methods. It is shown that the proposed algorithm is the most efficient approach for serial manipulators. As an example, the number of computations for the inertia matrix of a manipulator with n rotational joints is 11n2+9 n − 35 multiplications and 7n2+ 23 n − 57 additions by reformulating the dynamic model using the minimum set of dynamic parameters. © 1996 John Wiley &amp, Sons, Inc.

Efficient formulations for the manipulator inertia matrix in terms of minimal linear combinations of inertia parameters

“…Ž . following, which is similar to that proposed by Kawasaki et al 18 Table VII. Algorithm of first moments and inertia tensors.…”

“…The total computation requirements of Formulations 1 and 2 with considering the first moments and inertia tensors are summarized in Table VIII. Table VIII also shows that Formulation 1 is more efficient than Algorithms I and II of Kawasaki et al 18 for a manipulator with only rotational joints, while Formulation 2 is also more efficient than both algorithms of Kawasaki et al for n -8.…”

“…Finally, it is pointed in Appendix B that the formulation of Kawasaki et al 18 is in fact a variant form of this type of composite-body method, too. We designate it as Formulation 5 and list it in Table V.…”

“…15 ᎐ 17 It was exploited that using MLC's can reduce a lot of computations in the inverse dynamics. Kawasaki et al 18 developed an efficient formulation for the inertia matrix in terms of the set of MLC's of Khalil et al and Mayeda et al and found that their new formulation is computationally superior to all the others in the literature. This paper will indicate that the formulation of Kawasaki et al actually also belong to the second type of composite body method.…”

Adaptive Control For Robotic Manipulators Executing Multilateral Constrained Task

“…Each joint axis of the robot was parallel and/or perpendicular to the others. The link lengths from the 1 st to the 3 rd link were 0.011, 0.103, and 0.146 [m], respectively, and the number of a minimum set of dynamic parameters [16] of the robot in unconstrained motion was 15. These parameters were: The simulation results obtained using the proposed adaptive control method are shown in Fig.…”