Title :
Recursive calculation of geared robot manipulator dynamics
Author :
Murphy, Steve H. ; Wen, John T. ; Saridis, George N.
Author_Institution :
Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
A recursive formulation is presented for the calculation of the inverse and forward dynamics of rigid robot manipulators with gear systems on each joint. The complete effects of the gear ratios and the gyroscopic effects of the spinning motor/gear are included in the recursive formulation. The forward dynamics solution recursively calculates the joint accelerations when given motor torques, and the number of computations grows linearly with the number of links
Keywords :
dynamics; robots; forward dynamics; gear ratios; geared robot manipulator; gyroscopic effects; inverse dynamics; joint accelerations; recursive formulation; spinning motor; Acceleration; Computational modeling; Gears; Intelligent robots; Intelligent systems; Manipulator dynamics; Orbital robotics; Space exploration; Spinning; Torque control;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126093
