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Dynamics modeling of structure-varying kinematic chains for free-flying robots

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3 Author(s)
Roberto Lampariello ; Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Weßling, Germany ; Satoko Abiko ; Gerd Hirzinger

A new method for the computation of the dynamics of structure-varying kinematic chains is proposed. This is based on the complete redefinition of the system connectivity deriving from a given structural change. The derived computational efficiency is then described with examples of typical motion planning tasks and structure changes for free-flying robots. These include open branched chains and closed loops, in free and grappled conditions. The method may then contribute to the efficiency of motion planning for robots which may require different kinematic structures for a given task.

Published in:

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Date of Conference:

19-23 May 2008