Spatial operator approach to flexible manipulator inverse and forward dynamics

Author

Rodriguez, G.

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

fYear

1990

fDate

13-18 May 1990

Firstpage

845

Abstract

This study extends to flexible multibody manipulators the recent results of the author (1989) on the use of spatially recursive filtering and smoothing techniques for robot arm dynamics. The configuration analyzed is that of a mechanical system of flexible bodies joined together by articulated joints. The inverse and forward dynamics problems are solved using the techniques of spatially recursive Kalman filtering and smoothing. The algorithms are easily developed using a set of identities associated with mass matrix factorization and inversion. The identities are easily derived using a spatial operator algebra developed by the author

Keywords

Kalman filters; dynamics; filtering and prediction theory; matrix algebra; robots; Kalman filtering; articulated joints; flexible manipulator; forward dynamics; inverse dynamics; mass matrix factorization; spatial operator algebra; spatially recursive filtering; Acceleration; Control design; Filtering; Finite element methods; Laboratories; Manipulator dynamics; Mechanical systems; Propulsion; Smoothing methods; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126094

Filename

126094