Iterative calculation method for constraint motion by extended Newton-euler method and application for forward dynamics

Xiang Li, Jumpei Nishiguchi, Mamoru Minami, Takayuki Matsuno, Akira Yanou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

There are two principal methods to derivate motion of equation of robot manipulator, which are Newton-Euler (NE) method and Lagrange method. The NE method enables to make a dynamical model of robots and it is possible to calculate internal force and torque not generating real motion of robot manipulator, seemed to be an advantage of the NE method that Lagrange method does not have. This merit can be applicable for propagations of constraint and impact force/torque when discussing humanoids walking based on strict dynamical models. So far, the NE method has been applied to a robot of open-loop serial-linkage structure. However, the NE method has been limited to a motion without contacting with environment. Although robot task to the hand contact with environment, for example assembly task, grinding task is important, it has not been formulated in the way of the NE method. So, this paper proposes iterative calculation method for representing constraint dynamical motion of robot manipulator utilizing inverse dynamic calculation the NE method, leading and enabling the forward dynamics calculation of constraint motions to be dealt recursively through proposed the extended NE method for constraint motions, with no use of explicit representation of equation of motions. We applied this method to 2-linkage and 3-linkage manipulators and evaluated its validity by numerical simulations.

Original languageEnglish
Title of host publication2015 IEEE/SICE International Symposium on System Integration, SII 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages313-319
Number of pages7
ISBN (Print)9781467372428
DOIs
Publication statusPublished - Feb 10 2016
Event8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan
Duration: Dec 11 2015Dec 13 2015

Other

Other8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
CountryJapan
CityNagoya
Period12/11/1512/13/15

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Li, X., Nishiguchi, J., Minami, M., Matsuno, T., & Yanou, A. (2016). Iterative calculation method for constraint motion by extended Newton-euler method and application for forward dynamics. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015 (pp. 313-319). [7404997] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2015.7404997