QUT ePrints

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.

View at publisher

Abstract

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.

Impact and interest:

6 citations in Scopus
Search Google Scholar™
1 citations in Web of Science®

Citation countsare sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

Full-text downloads:

190 since deposited on 29 Jun 2010
60 in the past twelve months

Full-text downloadsdisplays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.

ID Code: 32653
Item Type: Conference Paper
Keywords: robotics
DOI: 10.1109/ROBOT.1996.506842
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 16:07
Last Modified: 16 Sep 2010 22:26

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page