Inverse dynamic problem in robots using Gibbs-Appell equations

  • Authors:

  • V. Mata;S. Provenzano;J. L. Cuadrado;F. Valero

  • Affiliations:

  • Departamento de Ingeniería Mecánica y de Materiales, Universidad Politécnica de Valencia, Camíno de Vera s/n, 46022 Valencia (Spain);Escuela de Ingeniería Mecánica, Universidad de Los Andes (Venezuela);Departamento de Ingeniería Mecánica y de Materiales, Universidad Politécnica de Valencia, Camíno de Vera s/n, 46022 Valencia (Spain);Departamento de Ingeniería Mecánica y de Materiales, Universidad Politécnica de Valencia, Camíno de Vera s/n, 46022 Valencia (Spain)

  • Venue:
  • Robotica
  • Year:
  • 2002

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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.