Reducing the Computational Complexity of Mass-Matrix Calculation for High DOF Robots
TypeCommunications avec actes
Increasingly, robots have more degrees of freedom (DOF), imposing a need for calculating more complex dynamics. As a result, better efficiency in carrying out dynamics computations is becoming more important. In this study, an efficient method for computing the joint space inertia matrix (JSIM) for high DOF serially linked robots is addressed. We call this method the Geometric Dynamics Algorithm for High number of robot Joints (GDAHJ). GDAHJ is non-symbolic, preserve simple formulation, and it is convenient for numerical implementation. This is achieved by simplifying the way to recursively derive the mass-matrix exploiting the unique property of each column of the JSIM and minimizing the number of operations with O(n2) complexity. Results compare favorably with existing methods, achieving better performance over state-of-the-art by Featherstone when applied for robots with more than 13 DOF.
Files in this item
Showing items related by title, author, creator and subject.
SAFEEA, Mohammad; NETO, Pedro; BEAREE, Richard (Institute of Electrical and Electronics Engineers (IEEE), 2018)The problem of minimum distance calculation between line-segments/capsules, in 3D space, is an important subject in many engineering applications, spanning CAD design, computer graphics, simulation, and robotics. In the ...
SAFEEA, Mohammad; NETO, Pedro; BEAREE, Richard (Elsevier BV, 2019)Christoffel symbols of the first kind are very important in robot dynamics. They are used for tuning various proposed robot controllers, for determining the bounds on Coriolis/Centrifugal matrix, for mathematical formulation ...
On-line collision avoidance for collaborative robot manipulators by adjusting off-line generated paths: An industrial use case SAFEEA, Mohammad; NETO, Pedro; BEAREE, Richard (Elsevier BV, 2019)Human–robot collision avoidance is a key in collaborative robotics and in the framework of Industry 4.0. It plays an important role for achieving safety criteria while having humans and machines working side-by-side in ...
BEAREE, Richard; OLABI, Adel; GIBARU, Olivier; DAMAK, Mohamed (ELSEVIER, 2010)Nowadays, the adaptation of industrial robots to carry out high-speed machining operations is strongly required by the manufacturing industry. This new technology machining process demands the improvement of the overall ...
BEAREE, Richard; BARRE, Pierre-Jean (AFM, EDP Sciences, 2007)L’augmentation des performances des machines de positionnement passe par l’augmentation des accélérations et donc des sollicitations transmises à la structure de la machine. Ces contraintes sont susceptibles d’engendrer ...