General Dynamic Algorithm for Floating Base Tree Structure Robots with Flexible Joints and Links
General Dynamic Algorithm for Floating Base Tree Structure Robots with Flexible Joints and Links
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DOI：
10.1115/1.4035798
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发表时间：
2017-06
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影响因子：
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通讯作者：
W. Khalil;F. Boyer;F. Morsli
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文献类型：
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作者：
W. Khalil;F. Boyer;F. Morsli
本文提出了一种求解具有刚性和柔性连杆、主动和被动关节、固定基座和浮动基座的树形结构机器人动力学的通用算法。该算法包括在一个统一的方法，逆和直接的动态。它还解决了混合动力的情况下，每个主动关节被认为是已知的关节扭矩，如在直接动态的情况下，或与已知的关节加速度，如在逆动态的情况下。为了实现这一目标，我们提出了一个有效的递归方法的基础上的广义牛顿-欧拉方程的柔性树结构系统。这种新的通用混合算法很容易编程，无论是数字或使用有效的定制符号技术。这是非常感兴趣的研究与软仿生机器人目前研究的软附件浮基系统或当机器人系统必须修改其结构的一些特定的任务，如转换一个主动关节到一个柔性的，或修改一个任务与浮基到一个固定的基础。
This paper presents a general algorithm for solving the dynamic of tree structure robots with rigid and flexible links, active and passive joints, and with a fixed or floating base. The algorithm encompasses in a unified approach both the inverse and direct dynamics. It addresses also the hybrid case where each active joint is considered with known joint torque as in the direct dynamic case, or with known joint acceleration as in the inverse dynamic case. To achieve this goal, we propose an efficient recursive approach based on the generalized Newton-Euler equations of flexible tree-structure systems. This new general hybrid algorithm is easy to program either numerically or using efficient customized symbolic techniques. It is of great interest for studying floating base systems with soft appendages as those currently investigated in soft bio-inspired robotics or when a robotic system has to modify its structure for some particular tasks, such as transforming an active joint into a compliant flexible one, or modifying a task with a floating base into one with fixed base.