Symbolic computation of the inverse dynamics of elastic joint robots

Efficient calculation of the inverse dynamics of robotic mechanisms serves as a basis for a variety of control schemes. Classical algorithms for rigid multibody systems do not apply when more realistic modeling is required. The computational treatment of the emerging non-linear equations augmented b...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Hauptverfasser:	Hopler, R., Thummel, M.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Algebra Applied sciences Computer science control theory systems Control theory. Systems Elasticity Exact sciences and technology Feeds Fundamental areas of phenomenology (including applications) Lagrangian functions Mechatronics Motion analysis Nonlinear equations Path planning Physics Robot control Robot kinematics Robotics Solid mechanics Static elasticity (thermoelasticity...) Structural and continuum mechanics
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

container_end_page	4319 Vol.5
container_issue
container_start_page	4314
container_title
container_volume	5
creator	Hopler, R. Thummel, M.
description	Efficient calculation of the inverse dynamics of robotic mechanisms serves as a basis for a variety of control schemes. Classical algorithms for rigid multibody systems do not apply when more realistic modeling is required. The computational treatment of the emerging non-linear equations augmented by drivetrain dynamics and elasticity imposes various challenges on the algorithmic solutions. This paper presents a method for recursive calculation of the inverse dynamics of real-world robots considering elasticity and gyroscopic effects introduced by the drivetrains. A study of the equations of motion elucidates the demand for analytical derivatives of the dynamics up to a maximum order depending on the number of joints. This problem is solved for the first time by means of higher-order time derivatives of spatial operators proposed by the spatial operator algebra.
doi_str_mv	10.1109/ROBOT.2004.1302396
format	Conference Proceeding
fullrecord	<record><control><sourceid>pascalfrancis_6IE</sourceid><recordid>TN_cdi_ieee_primary_1302396</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>1302396</ieee_id><sourcerecordid>17809412</sourcerecordid><originalsourceid>FETCH-LOGICAL-i247t-14af320be462845bcb9acfc2726b3e867d262ca4f4c1f025cf39395c3465ec503</originalsourceid><addsrcrecordid>eNpFkFtLAzEQhYMXsGj_gL7si49bJ5Nks3nUeoVCQSv4VrLTBFN2N2UThf57Vyo4DBw452PgDGOXHGacg7l5Xd4tVzMEkDMuAIWpjtgEldYl1PrjmE2NrmFcUaNAc8ImHBSUUqM5Y9OUtjCOVJJLmLD7t33XxDZQQbHbfWWbQ-yL6Iv86YrQf7shuWKz720XKP36rrUpj_g2hj4XQ2xiThfs1Ns2uemfnrP3x4fV_LlcLJ9e5reLMqDUueTSeoHQOFlhLVVDjbHkCTVWjXB1pTdYIVnpJXEPqMgLI4wiISvlSIE4Z9eHuzubyLZ-sD2FtN4NobPDfs3HzkZyHLmrAxecc__x4VfiBy7-Wv8</addsrcrecordid><sourcetype>Index Database</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Symbolic computation of the inverse dynamics of elastic joint robots</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Hopler, R. ; Thummel, M.</creator><creatorcontrib>Hopler, R. ; Thummel, M.</creatorcontrib><description>Efficient calculation of the inverse dynamics of robotic mechanisms serves as a basis for a variety of control schemes. Classical algorithms for rigid multibody systems do not apply when more realistic modeling is required. The computational treatment of the emerging non-linear equations augmented by drivetrain dynamics and elasticity imposes various challenges on the algorithmic solutions. This paper presents a method for recursive calculation of the inverse dynamics of real-world robots considering elasticity and gyroscopic effects introduced by the drivetrains. A study of the equations of motion elucidates the demand for analytical derivatives of the dynamics up to a maximum order depending on the number of joints. This problem is solved for the first time by means of higher-order time derivatives of spatial operators proposed by the spatial operator algebra.</description><identifier>ISSN: 1050-4729</identifier><identifier>ISBN: 9780780382329</identifier><identifier>ISBN: 0780382323</identifier><identifier>EISSN: 2577-087X</identifier><identifier>DOI: 10.1109/ROBOT.2004.1302396</identifier><language>eng</language><publisher>Piscataway NJ: IEEE</publisher><subject>Algebra ; Applied sciences ; Computer science; control theory; systems ; Control theory. Systems ; Elasticity ; Exact sciences and technology ; Feeds ; Fundamental areas of phenomenology (including applications) ; Lagrangian functions ; Mechatronics ; Motion analysis ; Nonlinear equations ; Path planning ; Physics ; Robot control ; Robot kinematics ; Robotics ; Solid mechanics ; Static elasticity (thermoelasticity...) ; Structural and continuum mechanics</subject><ispartof>IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004, Vol.5, p.4314-4319 Vol.5</ispartof><rights>2006 INIST-CNRS</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1302396$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2056,4040,4041,27916,54911</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1302396$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=17809412$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Hopler, R.</creatorcontrib><creatorcontrib>Thummel, M.</creatorcontrib><title>Symbolic computation of the inverse dynamics of elastic joint robots</title><title>IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004</title><addtitle>ROBOT</addtitle><description>Efficient calculation of the inverse dynamics of robotic mechanisms serves as a basis for a variety of control schemes. Classical algorithms for rigid multibody systems do not apply when more realistic modeling is required. The computational treatment of the emerging non-linear equations augmented by drivetrain dynamics and elasticity imposes various challenges on the algorithmic solutions. This paper presents a method for recursive calculation of the inverse dynamics of real-world robots considering elasticity and gyroscopic effects introduced by the drivetrains. A study of the equations of motion elucidates the demand for analytical derivatives of the dynamics up to a maximum order depending on the number of joints. This problem is solved for the first time by means of higher-order time derivatives of spatial operators proposed by the spatial operator algebra.</description><subject>Algebra</subject><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Elasticity</subject><subject>Exact sciences and technology</subject><subject>Feeds</subject><subject>Fundamental areas of phenomenology (including applications)</subject><subject>Lagrangian functions</subject><subject>Mechatronics</subject><subject>Motion analysis</subject><subject>Nonlinear equations</subject><subject>Path planning</subject><subject>Physics</subject><subject>Robot control</subject><subject>Robot kinematics</subject><subject>Robotics</subject><subject>Solid mechanics</subject><subject>Static elasticity (thermoelasticity...)</subject><subject>Structural and continuum mechanics</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>9780780382329</isbn><isbn>0780382323</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2004</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFkFtLAzEQhYMXsGj_gL7si49bJ5Nks3nUeoVCQSv4VrLTBFN2N2UThf57Vyo4DBw452PgDGOXHGacg7l5Xd4tVzMEkDMuAIWpjtgEldYl1PrjmE2NrmFcUaNAc8ImHBSUUqM5Y9OUtjCOVJJLmLD7t33XxDZQQbHbfWWbQ-yL6Iv86YrQf7shuWKz720XKP36rrUpj_g2hj4XQ2xiThfs1Ns2uemfnrP3x4fV_LlcLJ9e5reLMqDUueTSeoHQOFlhLVVDjbHkCTVWjXB1pTdYIVnpJXEPqMgLI4wiISvlSIE4Z9eHuzubyLZ-sD2FtN4NobPDfs3HzkZyHLmrAxecc__x4VfiBy7-Wv8</recordid><startdate>2004</startdate><enddate>2004</enddate><creator>Hopler, R.</creator><creator>Thummel, M.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>IQODW</scope></search><sort><creationdate>2004</creationdate><title>Symbolic computation of the inverse dynamics of elastic joint robots</title><author>Hopler, R. ; Thummel, M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i247t-14af320be462845bcb9acfc2726b3e867d262ca4f4c1f025cf39395c3465ec503</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2004</creationdate><topic>Algebra</topic><topic>Applied sciences</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>Elasticity</topic><topic>Exact sciences and technology</topic><topic>Feeds</topic><topic>Fundamental areas of phenomenology (including applications)</topic><topic>Lagrangian functions</topic><topic>Mechatronics</topic><topic>Motion analysis</topic><topic>Nonlinear equations</topic><topic>Path planning</topic><topic>Physics</topic><topic>Robot control</topic><topic>Robot kinematics</topic><topic>Robotics</topic><topic>Solid mechanics</topic><topic>Static elasticity (thermoelasticity...)</topic><topic>Structural and continuum mechanics</topic><toplevel>online_resources</toplevel><creatorcontrib>Hopler, R.</creatorcontrib><creatorcontrib>Thummel, M.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Pascal-Francis</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Hopler, R.</au><au>Thummel, M.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Symbolic computation of the inverse dynamics of elastic joint robots</atitle><btitle>IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004</btitle><stitle>ROBOT</stitle><date>2004</date><risdate>2004</risdate><volume>5</volume><spage>4314</spage><epage>4319 Vol.5</epage><pages>4314-4319 Vol.5</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>9780780382329</isbn><isbn>0780382323</isbn><abstract>Efficient calculation of the inverse dynamics of robotic mechanisms serves as a basis for a variety of control schemes. Classical algorithms for rigid multibody systems do not apply when more realistic modeling is required. The computational treatment of the emerging non-linear equations augmented by drivetrain dynamics and elasticity imposes various challenges on the algorithmic solutions. This paper presents a method for recursive calculation of the inverse dynamics of real-world robots considering elasticity and gyroscopic effects introduced by the drivetrains. A study of the equations of motion elucidates the demand for analytical derivatives of the dynamics up to a maximum order depending on the number of joints. This problem is solved for the first time by means of higher-order time derivatives of spatial operators proposed by the spatial operator algebra.</abstract><cop>Piscataway NJ</cop><pub>IEEE</pub><doi>10.1109/ROBOT.2004.1302396</doi><tpages>6</tpages><oa>free_for_read</oa></addata></record>
fulltext	fulltext_linktorsrc
identifier	ISSN: 1050-4729
ispartof	IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004, Vol.5, p.4314-4319 Vol.5
issn	1050-4729 2577-087X
language	eng
recordid	cdi_ieee_primary_1302396
source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Algebra Applied sciences Computer science control theory systems Control theory. Systems Elasticity Exact sciences and technology Feeds Fundamental areas of phenomenology (including applications) Lagrangian functions Mechatronics Motion analysis Nonlinear equations Path planning Physics Robot control Robot kinematics Robotics Solid mechanics Static elasticity (thermoelasticity...) Structural and continuum mechanics
title	Symbolic computation of the inverse dynamics of elastic joint robots
url	https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-14T22%3A19%3A49IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-pascalfrancis_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Symbolic%20computation%20of%20the%20inverse%20dynamics%20of%20elastic%20joint%20robots&rft.btitle=IEEE%20International%20Conference%20on%20Robotics%20and%20Automation,%202004.%20Proceedings.%20ICRA%20'04.%202004&rft.au=Hopler,%20R.&rft.date=2004&rft.volume=5&rft.spage=4314&rft.epage=4319%20Vol.5&rft.pages=4314-4319%20Vol.5&rft.issn=1050-4729&rft.eissn=2577-087X&rft.isbn=9780780382329&rft.isbn_list=0780382323&rft_id=info:doi/10.1109/ROBOT.2004.1302396&rft_dat=%3Cpascalfrancis_6IE%3E17809412%3C/pascalfrancis_6IE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=1302396&rfr_iscdi=true