Inverse dynamic problem in robots using Gibbs-Appell equations
| Autor: | Vicente Mata, J. L. Cuadrado, Sebastian Provenzano, Francisco Valero |
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| Předmět: |
Mathematical optimization
Computational complexity theory business.industry General Mathematics Equations of motion Inverse Robotics Recursive form Computer Science Applications law.invention Industrial robot Dynamic problem Control and Systems Engineering law Robot Applied mathematics Artificial intelligence business Software Mathematics |
| Zdroj: | Scopus-Elsevier |
| Popis: | In this paper, two algorithms for solving the Inverse Dynamic Problem based on the Gibbs-Appell equations are proposed and verified. Both are developed using mainly vectorial variables, and the equations are expressed in a recursive form. The first algorithm has a computational complexity of O(n2) and is the least efficient of the two; the second algorithm has a computational complexity of O(n). This algorithm will be compared with one based on Newton-Euler equations of motion, formulated in a similar way, and using mainly vectors in its recursive formulation. The O(n) proposed algorithm will be used to solve the Inverse Dynamic Problem in a PUMA industrial robot. |
| Databáze: | OpenAIRE |
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