A symbolic and numeric procedure for manipulator rigid-body dynamic significance analysis and simplification

Authors:
Peter I. Corke
Affiliations:
CSIRO Manufacturing Science and Technology, P.O. Box 883, Kenmore 4069, Australia. E-mail: pic@cat.csiro.au
Venue:
Robotica
Year:
1998

Citing 3
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Computationally efficient kinematics for manipulators with spherical wrists base

International Journal of Robotics Research
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SageRobotics: open source framework for symbolic computation of robot models

Proceedings of the 27th Annual ACM Symposium on Applied Computing

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Abstract

This paper describes an automated procedure for analysing the significance of each of the many terms in the equations of motion for a serial-link robot manipulator. Significance analysis provides insight into the rigid-body dynamic effects that are significant locally or globally in the manipulator's state space. Deleting those terms that do not contribute significantly to the total joint torque can greatly reduce the computational burden for online control, and a Monte-Carlo style simulation is used to investigate the errors thus introduced. The procedures, freely available, are a hybrid of symbolic and numeric techniques implemented using a standard computer algebra package.