Abstract
This study introduces the Geometric Dynamics Algorithm (GDA) for representing the dynamics of serially linked robots. GDA is non-symbolic, preserves simple formulation, and is convenient for numerical implementation. GDA-based algorithms are deduced for efficient calculation of various dynamic quantities including (1) joint space inertia matrix (JSIM) (2) Coriolis matrix (3) centrifugal matrix (4) and the time derivative of JSIM. The proposed algorithms were analyzed in terms of their computational complexity. Results compare favorably with other methods.
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Acknowledgments
This research was partially supported by Portugal 2020 project DM4Manufacturing POCI-01-0145-FEDER-016418 by UE/FEDER through the program COMPETE 2020, and the Portuguese Foundation for Science and Technology (FCT) SFRH/BD/131091/2017 and COBOTIS (PTDC/EME- EME/32595/2017).
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Safeea, M., Neto, P., Béarée, R. (2019). A Geometric Dynamics Algorithm for Serially Linked Robots. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11649. Springer, Cham. https://doi.org/10.1007/978-3-030-23807-0_35
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DOI: https://doi.org/10.1007/978-3-030-23807-0_35
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