Robot Dynamics Algorithms

1. Front Matter

   Pages i-3

   PDF

2. Introduction

   • Roy Featherstone

   Pages 5-11

3. Spatial Kinematics

   • Roy Featherstone

   Pages 13-36

4. Spatial Dynamics

   • Roy Featherstone

   Pages 37-64

5. Inverse Dynamics — The Recursive Newton-Euler Method

   • Roy Featherstone

   Pages 65-77

6. Forward Dynamics — The Composite-Rigid-Body Method

   • Roy Featherstone

   Pages 79-88

7. Forward Dynamics — The Articulated-Body Method

   • Roy Featherstone

   Pages 89-105

8. Extending the Dynamics Algorithms

   • Roy Featherstone

   Pages 107-128

9. Coordinate Systems and Efficiency

   • Roy Featherstone

   Pages 129-152

10. Contact, Impact, and Kinematic Loops

    • Roy Featherstone

    Pages 153-195

11. Accuracy and Efficiency

    Pages 195-212

12. Contact and Impact

    Pages 213-239

13. Back Matter

    Pages 197-211

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The purpose of this book is to present computationally efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies. The efficiency is achieved by the use of recursive formulations of the equations of motion, i.e. formulations in which the equations of motion are expressed implicitly in terms of recurrence relations between the quantities describing the system. The use of recursive formulations in dynamics is fairly new, 50 the principles of their operation and reasons for their efficiency are explained. Three main algorithms are described: the recursIve Newton-Euler formulation for inverse dynamics (the calculation of the forces given the accelerations), and the composite-rigid-body and articulated-body methods for forward dynamics (the calculation of the accelerations given the forces). These algorithms are initially described in terms of an un-branched, open­ loop kinematic chain -- a typical serial robot mechanism. This is done to keep the descriptions of the algorithms simple, and is in line with descriptions appearing in the literature. Once the basic algorithms have been introduced, the restrictions on the mechanism are lifted and the algorithms are extended to cope with kinematic trees and loops, and general constraints at the joints. The problem of simulating the effect of contact between a robot and its environment is also considered. Some consideration is given to the details and practical problems of implementing these algori?hms on a computer.

• algorithms
• computer
• dynamics
• efficiency
• environment
• iron
• joints
• kinematics
• mechanism
• mechanisms
• robot
• system

From the reviews:

“This book deals with a numerical treatment of different problems in the dynamics of rigid-body systems which arise mainly in robotics … . is centered on mechanical models made up of many rigid bodies connected by joints. … The book is written in a clear way. Each chapter begins by stating the objectives to be achieved. The algorithms presented are well documented and worked examples are also given. … the bibliography close this useful book on the computational approach to the dynamics of rigid-body systems.” (A. San Miguel, Mathematical Reviews, Issue 2011 h)

• Edinburgh University, UK

  Roy Featherstone

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