Decomposition and Cross-Product-Based Method for Computing the Dynamic Equation of Robots

This paper aims to demonstrate a clear relationship between Lagrange equations and Newton-Euler equations regarding computational methods for robot dynamics, from which we derive a systematic method for using either symbolic or on-line numerical computations. Based on the decomposition approach and...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2012-08, Vol.9 (2)
Main Authors: Shih, Ching-Long, Lee, Wen-Yo, Wu, Chia-Pin
Format: Article
Language:English
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Summary:This paper aims to demonstrate a clear relationship between Lagrange equations and Newton-Euler equations regarding computational methods for robot dynamics, from which we derive a systematic method for using either symbolic or on-line numerical computations. Based on the decomposition approach and cross-product operation, a computing method for robot dynamics can be easily developed. The advantages of this computing framework are that: it can be used for both symbolic and on-line numeric computation purposes, and it can also be applied to biped systems, as well as some simple closed-chain robot systems.
ISSN:1729-8806
1729-8814
DOI:10.5772/50271