Dynamic modeling of closed-chain robotic manipulators and implications for trajectory control

Author

Murray, John J. ; Lovell, Gilbert H.

Author_Institution

Martin Marietta Aerosp. & Naval Syst., Baltimore, MD, USA

Volume

5

Issue

4

fYear

1989

fDate

8/1/1989 12:00:00 AM

Firstpage

522

Lastpage

528

Abstract

A simple, physically insightful method for dynamic modeling of manipulators containing closed kinematic chains is presented. Founded on D´Alembert´s principle, the method centers around a transformation from the well-understood dynamics of serial and open-chain mechanisms to closed-chain dynamic robot models. The framework for the closed-chain dynamic robot model fosters straightforward extensions of serial robot engineering activities in the areas of digital simulation, real-time control, parameter identification, and optimal path planning to closed-chain manipulators. The algorithms needed to realize these extensions are detailed, and the important concepts are highlighted with an example

Keywords

dynamics; kinematics; position control; robots; D´Alembert´s principle; closed-chain robotic manipulators; digital simulation; kinematic chains; optimal path planning; parameter identification; position control; real-time control; serial robot engineering; trajectory control; Aerodynamics; Digital simulation; Equations; Lagrangian functions; Legged locomotion; Manipulator dynamics; Parameter estimation; Robot kinematics; Service robots; Vehicle dynamics;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.88066

Filename

88066