Title :
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
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;
Conference_Titel :
MECHATRONIKA, 2012 15th International Symposium
Conference_Location :
Prague
Print_ISBN :
978-1-4673-0979-0
