机器人实时控制中的快速逆动力学计算

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI:10.1109/IECON.1990.149221

C. Li, T. Sankar

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引用次数: 20

摘要

提出了机器人逆动力学的两种快速计算方法。设计了一种在单处理器微机上实时实现机器人逆动力学计算的方案。在该方案中，提出了两种高效的算法，它们在现有的基于单处理器的机器人逆动力学计算算法中计算速度最快。该方案设计用于在三处理器微机上并行实现机器人的实时逆动力学计算。通过对PUMA 560六自由度机械臂的逆动力学计算，验证了所提算法的有效性。

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Fast inverse dynamics computation in real-time robot control

Two fast computational schemes for robot inverse dynamics are presented. One scheme is designed to implement the inverse dynamics computation for a robot in real-time on a microcomputer with only one processor. In this scheme, two efficient algorithms that are computationally the fastest of all the existing single-processor-based algorithms for the robot inverse dynamics computation are proposed. The scheme is designed to implement in parallel the real-time inverse dynamics computation for a robot on a microcomputer with three processors. The proposed algorithms have been verified by computing the inverse dynamics of a PUMA 560 robot arm with six degrees-of-freedom.<>

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来源期刊

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society

CiteScore

1.40

自引率

0.00%

发文量