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Inverse dynamic problem in robots using Gibbs-Appell equations

Published online by Cambridge University Press:  23 January 2002

V. Mata ,
S. Provenzano ,
J.L. Cuadrado  and
F. Valero
V. Mata
Affiliation:
Departamento de Ingeniería Mecánica y de Materiales, Universidad Politécnica de Valencia, Camíno de Vera s/n, 46022 Valencia (Spain)
S. Provenzano
Affiliation:
Escuela de Ingeniería Mecánica, Universidad de Los Andes (Venezuela)
J.L. Cuadrado
Affiliation:
Departamento de Ingeniería Mecánica y de Materiales, Universidad Politécnica de Valencia, Camíno de Vera s/n, 46022 Valencia (Spain)
F. Valero
Affiliation:
Departamento de Ingeniería Mecánica y de Materiales, Universidad Politécnica de Valencia, Camíno de Vera s/n, 46022 Valencia (Spain)
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Abstract

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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.

Keywords

RoboticsInverse dynamic problemGibbs-Appell formulation
Type
Research Article
Information
Robotica , Volume 20 , Issue 1 , January 2002 , pp. 59 - 67
Copyright
© 2002 Cambridge University Press