Linearized Inverse Dynamic Models for Robot Manipulators With Varying Link Parameters

[+] Author and Article Information
Chang-Jin Li, T. S. Sankar

Department of Mechanical Engineering, Concordia University, 1455 de Mazisonneuve Blvd. West, Montreal, Quebec, Canada H3G 1M8

J. Mech. Des 116(1), 338-343 (Mar 01, 1994) (6 pages) doi:10.1115/1.2919370 History: Received March 01, 1992; Online June 02, 2008


In this paper, two fast computational algorithms are developed for effective formulation for the linearized inverse dynamic robot models with varying (kinematic and dynamic) link parameters . The proposed algorithms can generate complete linearized inverse dynamic models for robot manipulators, taking variations (e.g., inexactness, inconstancy, or uncertainty) of the kinematic and dynamic link parameters into account. They can be applied to any robot manipulator with rotational and/or translational joints, and can be utilized. The computational complexity of these algorithms is only of order O(n) , where n is the number of degrees-of-freedom of the robot manipulator.

Copyright © 1994 by The American Society of Mechanical Engineers
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