机器人运动学和微分运动学的自动微分同时计算

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583160

D. Pai, Tony H. S. Ser

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引用次数: 5

摘要

描述了用自动微分的有效伴随技术计算机器人运动量上定义的函数的导数。还描述了一种名为RAD(机器人自动微分)的实现软件，它可以生成优化的C程序，用于从机器人的简明描述和所需的运动学量中计算这些量。除了自动微分外，RAD软件还提供了运动学的符号公式，并使用Mathematica和模式匹配简化了三角代数表达式。作者以两连杆机器人和PUMA机器人为例说明了该软件的应用。

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Simultaneous computation of robot kinematics and differential kinematics with automatic differentiation

Describes the computation of derivatives of functions defined on a robot's kinematic quantities using the efficient adjoint technique for automatic differentiation. Implemented software called RAD (Robot Automated Differentiation), which can generate optimized C programs for computing these quantities from concise descriptions of the robot and the required kinematic quantities, is also described. In addition to automatic differentiation, the RAD software provides a symbolic formulation of the kinematics and simplification of trigonometric algebraic expressions using Mathematica and pattern matching. The authors illustrate the utility of the software with a 2-link robot and a PUMA robot.

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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