Fast inverse dynamics computation in real-time robot control

被引：0
|
作者：
Li, Chang-Jin [1 ]
Sankar, T.S. [1 ]
机构：
[1] Concordia Univ, Montreal, Canada
来源：
Mechanism & Machine Theory | 1992年 / 27卷 / 06期
关键词：
Algorithms - Control Systems - Dynamics - Efficiency - Real Time Systems;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, two fast algorithms for the inverse dynamics computation in real-time robot control are developed by using simple Lagrange-Euler formulation. The high computational efficiency of the proposed algorithms can make the inverse dynamics computation of any practical robot to be implemented on a current microcomputer in real-time. As compared with other existing algorithms, the algorithms proposed in this paper are, computationally, the fastest of all the existing algorithms for robot dynamics computation.
引用
收藏
页码：741 / 750
相关论文
共 50 条
  • [31] Automatic generated real-time models of robot dynamics
    Weber, W.
    Anggono, L.
    VDI Berichte, 2002, (1679): : 107 - 113
  • [32] Development of EtherCAT real-time control system for robot based on Simulink Real-Time
    Wang, Song
    Yang, Xudong
    van der Geer, J.
    JOURNAL OF COMPUTATIONAL METHODS IN SCIENCES AND ENGINEERING, 2021, 21 (01) : 49 - 57
  • [33] Real-time projection and dynamics analysis of quadruped robot
    Xu, Zhe
    Gao, Junyao
    Tu, Xiaolan
    Lu, Haojian
    Liu, Chuzhao
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, : 1084 - 1089
  • [34] Secure Real-Time Control Through Fog Computation
    Sato, Kazuhiro
    Azuma, Shun-ichi
    IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2019, 15 (02) : 1017 - 1026
  • [35] The Continuous Stream Model of Computation for Real-Time Control
    Fontanelli, Daniele
    Palopoli, Luigi
    Abeni, Luca
    IEEE 34TH REAL-TIME SYSTEMS SYMPOSIUM (RTSS 2013), 2013, : 150 - 159
  • [36] Dynamics Modeling and Real-time Fault-tolerant Control of A Rotor Aerial Robot
    Hou Xuyang
    Ruan Xiaogang
    Gong Daoxiong
    PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012), 2012, : 1144 - 1149
  • [37] FAST COMPUTATION OF JACOBIAN AND INVERSE JACOBIAN OF ROBOT MANIPULATORS
    MITRA, SK
    MAHALANABIS, A
    PROCEEDINGS OF THE SOCIETY OF PHOTO-OPTICAL INSTRUMENTATION ENGINEERS, 1985, 521 : 235 - 242
  • [38] A fast stereo matching algorithm for real-time robot application
    Wang, Xin
    Yang, Jian
    Liu, Hanbo
    Ma, Yan
    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 908 - 913
  • [39] Implementation of Robot Control Algorithms by Real-Time Control System
    Viliam, Fedak
    Frantisek, Durovsky
    Robert, Uveges
    Kyslan, Karol
    Milan, Lacko
    INTERNATIONAL JOURNAL OF ENGINEERING RESEARCH IN AFRICA, 2015, 18 (112-119) : 112 - 119
  • [40] Fixed-Time Inverse Dynamics Control for Robot Manipulators
    Su, Yuxin
    Zheng, Chunhong
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2019, 141 (06):
12345