Automated symbolic and numeric procedure for manipulator rigid-body dynamic significance analysis and simplification
Corke, Peter (1996) Automated symbolic and numeric procedure for manipulator rigid-body dynamic significance analysis and simplification. In IEEE, IEEE, Minneapolis, Minnesota.
This paper describes an automated procedure for analysing the significance of each of the many terms in the equations of motion for a serial-link robot manipulator. Significance analysis provides insight into the rigid-body dynamic effects that are significant locally or globally in the manipulator's state space. Deleting those terms that do not contribute significantly to the total joint torque can greatly reduce the computational burden for online control, and a Monte-Carlo style simulation is used to investigate the errors thus introduced. The procedures described are a hybrid of symbolic and numeric techniques, and can be readily implemented using standard computer algebra packages.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
|Deposited On:||29 Jun 2010 06:07|
|Last Modified:||16 Sep 2010 12:26|
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