By Topic

Evaluation of Generalized Force Derivatives by Means of a Recursive Newton–Euler Approach

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Corrado Guarino Lo Bianco ; Dipt. di Ing. dell'Inf., Univ. of Parma, Parma, Italy

An accurate estimation of the dynamics efforts acting on a robot manipulator represents an important issue for both the analysis of its behavior and the synthesis of appropriate controllers. This paper proposes an iterative algorithm, which is based on the Newton-Euler approach, for the efficient evaluation of the manipulators' high-order kinematics and dynamics. In particular, the algorithm computes velocities, accelerations, and jerks of each link, while new dynamic equations are devised in order to evaluate the first derivative of generalized forces. Due to its moderate computational burden, the algorithm is suited to be used in online applications.

Published in:

IEEE Transactions on Robotics  (Volume:25 ,  Issue: 4 )