tailieunhanh - New Approaches in Automation and Robotics part 7

Tham khảo tài liệu 'new approaches in automation and robotics part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 10 An Innovative Method for Robots Modeling and Simulation Laura Celentano Dipartimento di Informatica e Sistemistica Università degli Studi di Napoli Federico II Napoli Italy 1. Introduction The robot dynamics modeling and simulation problem has been studied for the last three decades intensively. In particular the forward dynamics problem of a robot is a very relevant issue which there is still to say about in terms of efficient computation algorithms that can be also simple to understand to develop and to implement above all for practical robots robots with many links and or with flexible links Featherstone 1987 Featherstone Orin 2000 Sciavicco Siciliano 2000 Khalil Dombre 2002 . Indeed in these cases the methods based on the classical Lagrange formulation give rise to an analytical model with numerous terms that may be difficult to use. The methods based on the Newton-Euler formulation are not very easy to apply and do not provide easily manageable analytical formulae even if they are efficient from a computational point of view Featherstone 1987 . An important contribution to solve the previous problems is given Celentano 2006 Celentano Iervolino 2006 Celentano Iervolino 2007 by a new simple and efficient methodology of analysis valid for all of robots that makes use of a mathematical model containing a lower number of algebraic terms and that allows computing with a prescribed maximum error the gradient of the kinetic energy starting from the numerical knowledge of the only inertia matrix rather than using as usually found in the literature complex analytical calculations of the closed-form expression of this matrix. This result is very strong because it allows solving the forward dynamics problem of a robot in a simple and efficient manner by analytically or numerically computing the inertia matrix and the potential energy gradient only. Moreover this method allows students researchers and professionals with no particular knowledge of mechanics to easily .