Extended Newton-Euler based centrifugal/Coriolis matrix factorization for geared serial robot manipulators with ideal joints

Author

Becke, Martin ; Schlegl, Thomas

Author_Institution

Dept. of Mech. Eng., Regensburg Univ. of Appl. Sci., Regensburg, Germany

fYear

2012

fDate

5-7 Dec. 2012

Firstpage

1

Lastpage

7

Abstract

The objective of this work is an extension of a quite new closed form factorizations of the centrifugal/Coriolis matrix based on Newton-Euler mechanics. The original factorization is extended for geared serial robot manipulators with ideal joints subject to kinematic constraints in joint motion due to actuators and gearboxes while preserving properties of the original factorization. Furthermore, the efficiency of the derived factorization is evaluated.

Keywords

Newton method; actuators; gears; manipulator kinematics; matrix decomposition; motion control; Coriolis matrix factorization; Newton-Euler mechanics; actuators; centrifugal matrix factorization; closed form factorization; factorization property; gearbox; geared serial robot manipulator; joint motion; kinematic constraint; manipulator joint; Actuators; Gears; Jacobian matrices; Joints; Manipulator dynamics; Transmission line matrix methods; Newton-Euler modeling; centrifugal/Coriolis matrix; dynamic equations; factorization; geared serial manipulator; ideal joints;

fLanguage

English

Publisher

ieee

Conference_Titel

MECHATRONIKA, 2012 15th International Symposium

Conference_Location

Prague

Print_ISBN

978-1-4673-0979-0

Type

conf

Filename

6415030