Efficient O(N) recursive computation of the operational space inertial matrix

Journal Article · Wed Sep 01 04:00:00 EDT 1993 · IEEE Transactions on Systems, Man, and Cybernetics

DOI:https://doi.org/10.1109/21.260669· OSTI ID:142225

Lilly, K W ^[1]; Orin, D E ^[2]

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1. Pennsylvania State Univ., University Park, PA (United States). Dept. of Mechanical Engineering
2. Ohio State Univ., Columbus, OH (United States). Dept. of Electrical Engineering

The operational space inertia matrix {Lambda} reflects the dynamic properties of a robot manipulator to its tip. In the control domain, it may be used to decouple force and/or motion control about the manipulator workspace axes. The matrix {Lambda} also plays an important role in the development of efficient algorithms for the dynamic simulation of closed-chain robotic mechanisms, including simple closed-chain mechanisms such as multiple manipulator systems and walking machines. The traditional approach used to compute {Lambda} has a computational complexity of O(N{sup 3}) for an N degree-of-freedom manipulator. This paper presents the development of a recursive algorithm for computing the operational space inertia matrix (OSIM) that reduces the computational complexity to O(N). This algorithm, the inertia propagation method, is based on a single recursion that begins at the base of the manipulator and progresses out to the last link. Also applicable to redundant systems and mechanisms with multiple-degree-of-freedom joints, the inertia propagation method is the most efficient method known for computing {Lambda} for N {>=} 6. The numerical accuracy of the algorithm is discussed for a PUMA 560 robot with a fixed base.

• OSTI ID: 142225
• Journal Information: IEEE Transactions on Systems, Man, and Cybernetics, Journal Name: IEEE Transactions on Systems, Man, and Cybernetics Journal Issue: 5 Vol. 23; ISSN ISYMAW; ISSN 0018-9472
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS
COMPUTERIZED SIMULATION
CONTROL
MANIPULATORS
MOTION
OPERATION
RESEARCH PROGRAMS
ROBOTS