TY - GEN
T1 - On the closed form computation of the dynamic matrices and their differentiations
AU - Garofalo, Gianluca
AU - Ott, Christian
AU - Albu-Schaffer, Alin
PY - 2013
Y1 - 2013
N2 - In this paper we review and extend some classic results on rigid body dynamics, in order to give a symbolic expression of the different derivatives of the matrices of the dynamic model of a general tree-structured robot. In what follows the matrices are differentiated with respect to time, state and dynamic parameters. Obviously from the derivatives of the single matrices it is possible to recover the derivatives of the direct and inverse dynamic functions and classic results like the regressor matrix. Moreover an iterative algorithm is sketched which allows to compute all these derivatives as well as the kinematics and dynamics of the robot.
AB - In this paper we review and extend some classic results on rigid body dynamics, in order to give a symbolic expression of the different derivatives of the matrices of the dynamic model of a general tree-structured robot. In what follows the matrices are differentiated with respect to time, state and dynamic parameters. Obviously from the derivatives of the single matrices it is possible to recover the derivatives of the direct and inverse dynamic functions and classic results like the regressor matrix. Moreover an iterative algorithm is sketched which allows to compute all these derivatives as well as the kinematics and dynamics of the robot.
UR - http://www.scopus.com/inward/record.url?scp=84893784850&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696688
DO - 10.1109/IROS.2013.6696688
M3 - Conference contribution
AN - SCOPUS:84893784850
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2364
EP - 2369
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -