Efficient formulations for the manipulator inertia matrix in terms of minimal linear combinations of inertia parameters

Shir-Kuan Lin, Chang Jia Fang

研究成果: Article同行評審

2 引文 斯高帕斯(Scopus)

摘要

This article summarizes four formulations of the composite body method for the inertia matrix of a manipulator in the earlier works and presents a new formulation. These five formulations all use the first moments and the inertia tensors of composite bodies about the origin of the local frame. This paper also presents an algorithm for computing these first moments and inertia tensors. This algorithm utilizes a set of minimal linear combinations of inertia parameters instead of the natural inertia parameters, so that a number of redundant computations are saved. It is found that the new algorithm for the first moments and the inertia tensors of composite bodies is computationally superior to the others in the literature. On the other hand, two among the five formulations for the inertia matrix are more efficient than the other three as well as the others in the literature. The new formulation is one of these two most efficient formulations, and is specially adequate to a manipulator with some translational joints.

原文English
頁(從 - 到)679-695
頁數17
期刊Journal of Robotic Systems
16
發行號12
DOIs
出版狀態Published - 1 十二月 1999

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