EFFICIENT O(N) RECURSIVE COMPUTATION OF THE OPERATIONAL SPACE INERTIA MATRIX

被引:13
作者
LILLY, KW [1 ]
ORIN, DE [1 ]
机构
[1] OHIO STATE UNIV, DEPT ELECT ENGN, COLUMBUS, OH 43210 USA
来源
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1993年 / 23卷 / 05期
基金
美国国家科学基金会;
关键词
D O I
10.1109/21.260669
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 ;
摘要
The operational space inertia matrix A reflects the dynamic properties of a robot manipulator to its tip. In the control domain, it may be used to decouple force and/or motion control about the manipulator workspace axes. The matrix A also plays an important role in the development of efficient algorithms for the dynamic simulation of closed-chain robotic mechanisms, including simple closed-chain mechanisms such as multiple manipulator systems and walking machines. The traditional approach used to compute A has a computational complexity of O(N3) for an N degree-of-freedom manipulator. This paper presents the development of a recursive algorithm for computing the operational space inertia matrix (OSIM) that reduces the computational complexity to O(N). This algorithm, the inertia propagation method, is based on a single recursion that begins at the base of the manipulator and progresses out to the last link. Also applicable to redundant systems and mechanisms with multiple-degree-of-freedom joints, the inertia propagation method is the most efficient method known for computing A for N greater-than-or-equal-to 6. The numerical accuracy of the algorithm is discussed for a PUMA 560 robot with a fixed base.
引用
收藏
页码:1384 / 1391
页数:8
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