NDLI: A further study on kane's equations approach of robots dynamics

Content Provider	IEEE Xplore Digital Library
Author	Ma Xiang-feng Xu Xiang-rong
Copyright Year	1988
Description	Author affiliation: Beijing University of Iron And Steel Technology, East China Institute of Metallurgy (Ma Xiang-feng)
Abstract	This paper presents the further work and improvement about a new dynamics algorithm of robots --- Kane's equations algorithm of robots based on the paper's author's previous work. The improved algorithm is obtained using Kane's equations and Newton-Euler formulations. The algorithm is given in recurrence form and can be easily realized on computers. It is suited not only for robots with all rotatory joints but also for robots with some prismatic joints. Formulations of the algorithm keep the recurrence characteristics of the Newton-Euler formulations, but possess stronger physical significance. Unlike the conventional algorithms. such as the Lagrange and Newton-Euler algorithm etc., the algorithm can conveniently solve the problem of dynamics of robots containing closed chains without cutting the closed chains open. The paper introduces the method suited for dealing with robots with closed chains in detail. In addition, this paper makes a comparision between the algorithm and conventional algorithms from the number of multiplications and additions, and it is shown that for open chain linkage robots the amount of computation of the algorithm is only a little more than that of Newton-Euler's, but much less than that of all others. For robots with closed chains, the computation amount of the algotithm is less than that of all conventional algorithms.
Starting Page	107
Ending Page	112
File Size	591353
Page Count	6
File Format	PDF
ISBN	7800030393
DOI	10.1109/ICSMC.1988.754252
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-08-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Equations Robot kinematics Service robots Acceleration Heuristic algorithms Couplings Angular velocity Iron Steel Mechanical engineering
Content Type	Text
Resource Type	Article

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