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A symbolic and numeric procedure for manipulator rigid-body dynamic significance analysis and simplification

Published online by Cambridge University Press:  01 September 1998

Peter I. Corke
Peter I. Corke
Affiliation:
CSIRO Manufacturing Science and Technology, P.O. Box 883, Kenmore 4069, Australia. E-mail: pic@cat.csiro.au
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Abstract

This paper describes an automated procedure for analysing the significance of each of the many terms in the equations of motion for a serial-link robot manipulator. Significance analysis provides insight into the rigid-body dynamic effects that are significant locally or globally in the manipulator's state space. Deleting those terms that do not contribute significantly to the total joint torque can greatly reduce the computational burden for online control, and a Monte-Carlo style simulation is used to investigate the errors thus introduced. The procedures, freely available, are a hybrid of symbolic and numeric techniques implemented using a standard computer algebra package.

Keywords

Rigid-body manipulatorSignificance analysisAutomated procedure
Type
Research Article
Information
Robotica , Volume 16 , Issue 5 , September 1998 , pp. 589 - 594
Copyright
© 1998 Cambridge University Press

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