Efficient Dynamic Simulation of Robotic MechanismsEfficient Dynamic Simulation of Robotic Mechanisms presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems. In particular, the simulation of single closed chains and simple closed-chain mechanisms is investigated in detail. Single closed chains are common in many applications, including industrial assembly operations, hazardous remediation, and space exploration. Simple closed-chain mechanisms include such familiar configurations as multiple manipulators moving a common load, dexterous hands, and multi-legged vehicles. The efficient dynamics simulation of these systems is often required for testing an advanced control scheme prior to its implementation, to aid a human operator during remote teleoperation, or to improve system performance. In conjunction with the dynamic simulation algorithms, efficient algorithms are also derived for the computation of the joint space and operational space inertia matrices of a manipulator. The manipulator inertia matrix is a significant component of any robot dynamics formulation and plays an important role in both simulation and control. The efficient computation of the inertia matrix is highly desirable for real-time implementation of robot dynamics algorithms. Several alternate formulations are provided for each inertia matrix. Computational efficiency in the algorithm is achieved by several means, including the development of recursive formulations and the use of efficient spatial transformations and mathematics. All algorithms are derived and presented in a convenient tabular format using a modified form of spatial notation, a six-dimensional vector notation which greatly simplifies the presentation and analysis of multibody dynamics. Basic definitions and fundamental principles required to use and understand this notation are provided. The implementation of the efficient spatial transformations is also discussed in some detail. As a means of evaluating efficiency, the number of scalar operations (multiplications and additions) required for each algorithm is tabulated after its derivation. Specification of the computational complexity of each algorithm in this manner makes comparison with other algorithms both easy and convenient. The algorithms presented in Efficient Dynamic Simulation of Robotic Mechanisms are among the most efficient robot dynamics algorithms available at this time. In addition to computational efficiency, special emphasis is also placed on retaining as much physical insight as possible during algorithm derivation. The algorithms are easy to follow and understand, whether the reader is a robotics novice or a seasoned specialist. |
Contents
Contents | 1 |
SYSTEM MODELLING AND NOTATION | 9 |
ALTERNATE FORMULATIONS FOR THE JOINT SPACE | 19 |
Copyright | |
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Common terms and phrases
a₁ acceleration vector actuated additions articulated body articulated-body inertia augmented chain base member Calculate chain tip Chapter closed-chain joint accelerations Composite-Rigid-Body Method computational complexity computational requirements configuration constrained contact force vector coordinate frame coordinate system D. E. Orin defined degrees of freedom Direct Dynamics algorithm dynamic equations dynamic simulation algorithm efficient algorithms end effector follows Force Propagation Method IEEE inertia of link Inertia Propagation Method Inverse Dynamics inverse operational space Jacobian matrix joint model joint positions joint space inertia Journal of Robotics k)open Khatib kinematic Method Method motion space Multibody Systems multiplications number of degrees O(N³ open-chain operational space inertia positions and rates recursive algorithm reference member Robot Manipulators robotic mechanisms robotic systems scalar operations simple closed-chain mechanisms single closed chain solution space inertia matrix spatial acceleration spatial contact force spatial force vector spatial inertia spatial vector Step Structurally Recursive Table unconstrained Unit Force Method vector spaces
References to this book
Soft Computing for Control of Non-Linear Dynamical Systems Oscar Castillo,Patricia Melin No preview available - 2001 |
Modelling, Simulation and Control of Non-linear Dynamical Systems: An ... Patricia Melin,Oscar Castillo No preview available - 2001 |