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An approach to automatic generation of dynamic equations of elastic joint manipulators in symbolic language

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Abstract

This paper describes an approach for automatic generation of the equations of motion of elastic joint manipulators in symbolic language. It is based on a vector-parametrization of the Lie groupSO(3) and uses the Lagrange's formalism to derive the dynamical equations, the final forms of which are like the equations generated by a recursive Newton-Eulerian algorithm. These characteristics together increase the computational efficiency of the algorithm and give a very good insight into the dynamical structure of the system. In addition to this, the inertia matrix is explicitly given in the final equations, which is very important for the applicability of a mathematical model in different fields of control and simulation. The suggested algorithm is therefore quite appropriate for the purposes of robot modeling, identification as well as for the applications in real time simulations and control.

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Author notes

  1. C. D. Mladenova (Alexander von Humboldt Research Fellow)

    Present address: Institute of Mechanics, Bulg. Acad. Sciences, Acad. G. Bonchev Str., Bl. 4, 1113, Sofia, Bulgaria

Authors and Affiliations

  1. Safety Control Engineering, University of Wuppertal, Gauβstr. 20, 42097, Wuppertal, Germany

    J. Adongo Ochier (Friedrich-Ebert Scholar), C. D. Mladenova (Alexander von Humboldt Research Fellow) & P. C. Müller (University Professor)

Authors
  1. J. Adongo Ochier
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  2. C. D. Mladenova
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  3. P. C. Müller
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Adongo Ochier, J., Mladenova, C.D. & Müller, P.C. An approach to automatic generation of dynamic equations of elastic joint manipulators in symbolic language. J Intell Robot Syst 14, 199–218 (1995). https://doi.org/10.1007/BF01559612

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  • DOI: https://doi.org/10.1007/BF01559612

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