DYNAMIC MODELING OF ROBOTS USING RECURSIVE NEWTON-EULER TECHNIQUES

被引：0

作者：

Khalil, Wisama ^{[1
]}

机构：

[1] Ecole Cent Nantes, IRCCyN UMR CNRS 6597, 1 Rue Noe, F-44321 Nantes, France

来源：

ICINCO 2010: PROCEEDINGS OF THE 7TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 1 | 2010年

关键词：

Dynamic Modelling; Newton-Euler; Recursive Calculation; Tree Structure; Parallel Robots; Flexible Joints; Mobile Robots; INERTIAL PARAMETERS; MINIMUM SET; INVERSE;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper present the use of recursive Newton-Euler to model different robotics systems. The main advantages of this technique are the facility of implementation by numerical or symbolical programming and providing models with reduced number of operations. In this paper the inverse and direct dynamic models of different robotics systems will be presented. At first we start by rigid tree structure robots, then these algorithms will be generalized for closed loop robots, parallel robots, and robots with lumped elasticity. At the end the case of robots with moving base will be treated.

引用

页码：IS19 / IS31

页数：13

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