Recursive second-order inverse dynamics for serial manipulators

摘要: Various model-based control schemes, e.g. feedback-linearizing of robotic manipulators with series elastic actuators require time derivatives the forces, i.e. equations motion. This is referred to as higher-order inverse dynamics problem. As this must be evaluated on controller hardware, computationally efficient formulations are crucial. While recursive O (n) algorithms well-established, such for higherorder relatively new. latter problem were published recently building upon known in terms Denavit-Hartenber (DH) parameters. The DH convention restrictive, however. Also naturally very complex. Both issues addresses paper concepts from screw and Lie group theory. An algorithm determining first second derivative solution presented. approach provides a high level compactness while ensuring computational efficiency. Being frame invariant formulation allows using representations different frame. Two presented, one body-fixed other so-called hybrid representation twists. deemed more that classical version. Results shown 6-DOF industrial manipulator.