The calculation of robot dynamics using articulatedbody inertias
Abstract
This paper describes a new method for calculating the acceleration of a robot in response to given actuator forces. The method is applicable to openloop kinematic chains containing revolute and prismatic joints. The algorithm is based on recursive formulas involving quantities called articulatedbody inertias, which represent the inertia properties of collections of rigid bodies connected together by joints allowing constrained relative motion between the bodies. A new, matrixbased notation is introduced to represent articulatedbody inertias and other spatial quantities. This notation is used to develop the algorithm, and results in a compact representation of the equations. The new algorithm has a computational requirement that varies linearly with the number of joints, and its efficiency is compared with other published algorithms.
 Publication:

International Journal of Robotics Research
 Pub Date:
 May 1983
 Bibcode:
 1983IJRR....2...13F
 Keywords:

 Body Kinematics;
 Dynamic Response;
 Inertia Principle;
 Kinematic Equations;
 Recursive Functions;
 Robots;
 Algorithms;
 Equations Of Motion;
 Joints (Junctions);
 Matrices (Mathematics);
 Rigid Structures;
 Engineering (General)