Abstract
A modular and computationally efficient method for a real-time solution to the forward problem of robot mechanisms incorporating Coulomb friction is developed. Coulomb friction effects associated with both transmissions and bearings are considered. Moreover, the method accounts for joint flexibility as well as actuator gyroscopic effects. In our approach, the inverse dynamics formulation is used for solving the forward dynamics problem. The positive definiteness property of the inertia matrix of the dynamic equations of motion is exploited by intentionally introducing algebraic loops so that simultaneous algebraic equations are solved without iterations. The formulation developed here is useful in cases requiring either or both the inverse and forward dynamics solutions typically associated with design and control. Furthermore, the implementation of the method facilitates real-time and accurate simulations of complex robot dynamics.
| Original language | English (US) |
|---|---|
| Title of host publication | Proc USA Jpn Symp Flexible Autom Crossing Bridges Adv Flexible Autom Rob |
| Publisher | Publ by American Soc of Mechanical Engineers (ASME) |
| Pages | 27-33 |
| Number of pages | 7 |
| State | Published - Dec 1 1988 |
| Event | Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA Duration: Jul 18 1988 → Jul 20 1988 |
Other
| Other | Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics |
|---|---|
| City | Minneapolis, MN, USA |
| Period | 7/18/88 → 7/20/88 |