Real-Time Dynamics of Manipulation Robots

Vukobratović, Miomir; Kircanski, N.

doi:10.1007/978-3-642-82198-1

Cited by 49 publications

(25 citation statements)

References 24 publications

(50 reference statements)

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“…Currently it is believed that the use of diverse dynamic principles will lead to similar formulations of equivalent computational complexity. This has been partially proved by applying the appropriate relationships to the L-E equations in order to obtain an equivalent formulation to that given by the N-E equations, although a greater effort is required in order to reach the final equations [14]. It is for this reason that most of the formulations that produce efficient algorithms have been developed from the N-E equations.…”

Section: Introductionmentioning

confidence: 99%

“…Surprisingly, a bibliographical review of the literature on this area reveals a limited use of the G-A equations in modern dynamics. A few years ago, the supposed relationship of the G-A equations and Kane's dynamic equations caused a great number of works and comments on the matter [14]. In the field of robotics, Popov proposed a method, later developed by Vukobratovic [14], in which the G-A equations were used to develop a closed form representation of high computational complexity.…”

Section: Introductionmentioning

confidence: 99%

“…A few years ago, the supposed relationship of the G-A equations and Kane's dynamic equations caused a great number of works and comments on the matter [14]. In the field of robotics, Popov proposed a method, later developed by Vukobratovic [14], in which the G-A equations were used to develop a closed form representation of high computational complexity. This method was used by Desoyer and Lugner [11], [14] to solve, by means of the recursive formulation O(n 2 ) (n is the number of the degree-of-freedom), an inverse dynamic problem, using the Jacobian matrix of the manipulator, with the view of avoiding the explicit development of partial derivatives.…”

Section: Introductionmentioning

confidence: 99%

“…In the field of robotics, Popov proposed a method, later developed by Vukobratovic [14], in which the G-A equations were used to develop a closed form representation of high computational complexity. This method was used by Desoyer and Lugner [11], [14] to solve, by means of the recursive formulation O(n 2 ) (n is the number of the degree-of-freedom), an inverse dynamic problem, using the Jacobian matrix of the manipulator, with the view of avoiding the explicit development of partial derivatives. Another approach was suggested by Vereshchagin [14] who proposed manipulator motion equations from Gauss' principle and Gibbs' function.…”

Section: Introductionmentioning

confidence: 99%

“…This method was used by Desoyer and Lugner [11], [14] to solve, by means of the recursive formulation O(n 2 ) (n is the number of the degree-of-freedom), an inverse dynamic problem, using the Jacobian matrix of the manipulator, with the view of avoiding the explicit development of partial derivatives. Another approach was suggested by Vereshchagin [14] who proposed manipulator motion equations from Gauss' principle and Gibbs' function. This approach was used by Rudas and Toth [11] to solve the inverse dynamic problem of robots.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Computer Algebra for Real-Time Dynamics of Robots with Large Numbers of Joints

Bansevicius

Čepulkauskas

Kulvietienė

et al. 2004

Computational Science - ICCS 2004

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Abstract. This paper deals with the description of a theoretical background of systematic computer algebra methods for analyzing the realtime dynamics of robots with a large numbers of joints. Many numerical methods based on different principles of mechanics were developed to obtain the equations that model the dynamic behavior of robots. In this paper, the efficiency of computer algebra application was compared with the most popular methods of forming the dynamic equations of robots in real time. To this end, the computer algebra system VIBRAN was used. A real-time dynamic model in closed form of the robots with large numbers of joints has been developed, using the computer algebra technique with the following automatic program code generation.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Computer Algebra for Real-Time Dynamics of Robots with Large Numbers of Joints

Bansevicius

Čepulkauskas

Kulvietienė

et al. 2004

Computational Science - ICCS 2004

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A systematic formulation of dynamic equations for robot manipulators with elastic links

Lowl

1987

J. Robotic Syst.

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Although a variety of formulation schemes for the dynamic equations of robot manipulators with rigid links can be found in the literature, an efficient method of the formulation for robot manipulators with elastic links is not well known. Accordingly, this work presents the derivation of the equations of motion for application to mechanical manipulators with elastic links. The formulation is conducted analytically using Hamilton's principle. The resultant equations consist of the terms of inertial, Coriolis. centrifugal, gravitational, and exerted forces. They are expressed in terms of a set of independent generalized coordinates. In contrast to conventional variational approaches, the present method provides an efficient and systematic way for obtaining the compact symbolic equations of flexible manipulator systems. Two examples are presented to illustrate the proposed methodology. Firstly, a three-link flexible manipulator with three revolute joints is studied. A flexible manipulator consisting of a prismatic joint and a discrete mass is the second model. Ref. 1 for a brief review). In reality, all structures are subject to deformation under Journal of Robotic Systems, 4(3 ,435456 (198 Q 1987 by John Wiley 8 Sons, / nc.

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Robustness of decentralized robot controller to payload variation

Stokić

Vukobratović

1988

J. Robotic Syst.

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The decentralized controller for manipulation robot is tested for its robustness to payload variation. First the local controllers are synthesized to withstand variation of inertia round the joints and then the global stability of the robotic system is examined. Three various situations are discussed: a) when actuator inertia is large in comparison to mechanism inertia, b) if the variation of payload is small in comparison to mechanism inertia, and c) if the large variation of payload parameters are expected. An algorithm for testing the robustness of the robot control to parameter variation is established, too. The purpose of the algorithm is to determine the allowable variation of the payload parameters which can be withstood by the simple decentralized controller. On the other hand, by this algorithm the local servosystems can be synthesized which are capable to withstand assumed parameter variation. This synthesis is demonstrated on an example of particular robotic system. LIZ.:, E ? Z C Z L -~H % &~! U % V EZ)EU-~@. W @ $ # b t Z~-b 4 U1 f 2 E *ZhsFZ E Bhb. QUJtZ. l~a h 0 O f R t % O 4 1 t Z # X~~Q a -~ , L t a = I ) E U-5hsfgstrh. *an%./ E 9Z4LCD9rl-I\'ILtb$Zt%b~F X E B h i . 1 ; A~~3 3~~t a i~C f f t~7 L \ -r~~~h b 8 : a ) 7 3 ; f 2 X -9 O(lBhs#ByOMBdr 0 kt L\YQ* b)aR%1hs#@OfR%& r) 4\S C'fSB\ ~>&@&Jtb;bjkd t\YQo $it. 1S39 -5'&JtbtZ%lfb. U S -Y E @JBOU/\' 2 E S Z J k 3 Z E f b 7 ) l f 3 v X L & a & B h i . r : C D 7 I L 3~) X h O H @ J~l d . t Ol@ta%lllt!H3 2 E U -5 h~H R b t t: h$T t iR%WR&aQ*X-b 4 L t P a J b . -3. t O 7 1 1 . 3 I I X L t L d ; 0 , ~i Z B h~l S 4 9 -9 % 1 t~# X $ # bun%#-43n-?J)lftat+-%9 Z!?Lh%IitmET& 4, z a9 )-I29 ZtA% Ullta0%9 E 92!?.nMtZ3L\-rBa8Bhs,

show abstract

Real-Time Dynamics of Manipulation Robots

Cited by 49 publications

References 24 publications

Computer Algebra for Real-Time Dynamics of Robots with Large Numbers of Joints

Computer Algebra for Real-Time Dynamics of Robots with Large Numbers of Joints

A systematic formulation of dynamic equations for robot manipulators with elastic links

Robustness of decentralized robot controller to payload variation

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