Hostname: page-component-78c5997874-fbnjt Total loading time: 0 Render date: 2024-11-10T17:29:05.073Z Has data issue: false hasContentIssue false
  • English
  • Français

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)
Get access Rights & Permissions [Opens in a new window]

Abstract

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

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)