Comprehensive theory of differential kinematics and dynamics towards extensive motion optimization framework
Comprehensive theory of differential kinematics and dynamics towards extensive motion optimization framework
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DOI：
10.1177/0278364918772893
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发表时间：
2018-12-01
影响因子：
9.2
通讯作者：
Yoshida, Eiichi
中科院分区：
文献类型：
--
作者：
Ayusawa, Ko;Yoshida, Eiichi
针对复杂机器人的运动优化问题，提出了一种新的统一的微分运动学和动力学理论框架。通过引入18x18综合运动变换矩阵，可以将包括速度和加速度在内的正微分运动学和动力学写成类似于普通旋转矩阵的简单链积。该公式使得能够以有效的方式(O(Nj)，其中nj是机器人的自由度数)分析计算各种物理量(例如，连杆速度、连杆加速度或关节力矩)相对于机器人轨迹的关节坐标、速度和加速度的导数，这对于运动优化是有用的。结合机器人运动优化的仿真结果，给出了梯度计算的实际实现，验证了该框架的有效性。
This paper presents a novel unified theoretical framework for differential kinematics and dynamics for the optimization of complex robot motion. By introducing an 18x18 comprehensive motion transformation matrix, the forward differential kinematics and dynamics, including velocity and acceleration, can be written in a simple chain product similar to an ordinary rotational matrix. This formulation enables the analytical computation of derivatives of various physical quantities (e.g. link velocities, link accelerations, or joint torques) with respect to joint coordinates, velocities and accelerations for a robot trajectory in an efficient manner (O(NJ), where NJ is the number of the robot's degree of freedom), which is useful for motion optimization. Practical implementation of gradient computation is demonstrated together with simulation results of robot motion optimization to validate the effectiveness of the proposed framework.