Comparison of Methods for Developing the Dynamics of Rigid- Body Systems

Ming-Shaung Ju, J. M. Mansour

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

Several approaches for developing the equations of motion for a three-degree-of-freedom PUMA robot were compared on the basis of computational efficiency (i.e., the number of additions, subtractions, multiplications, and divisions). Of particular interest was the investigation of the use of com puter algebra as a tool for developing the equations of motion. Three approaches were implemented algebraically: La grange's method, Kane's method, and Wittenburg's method. Each formulation was developed in absolute and relative coordinates. These six cases were compared to each other and to a recursive numerical formulation. The results showed that all of the formulations implemented algebraically re quired fewer calculations than the recursive numerical algo rithm. The algebraic formulations required fewer calculations in absolute coordinates than in relative coordinates. Each of the algebraic formulations could be simplified, using patterns from Kane's method, to yield the same number of calcula tions in a given coordinate system.

Original languageEnglish
Pages (from-to)19-27
Number of pages9
JournalThe International Journal of Robotics Research
Volume8
Issue number6
DOIs
Publication statusPublished - 1989 Jan 1

Fingerprint

Rigid Body
Equations of motion
Relative coordinates
Formulation
Computational efficiency
Algebra
Robots
Equations of Motion
Lagrange Method
Subtraction
Computational Efficiency
Division
Multiplication
Robot
Degree of freedom

All Science Journal Classification (ASJC) codes

  • Software
  • Modelling and Simulation
  • Mechanical Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence
  • Applied Mathematics

Cite this

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Comparison of Methods for Developing the Dynamics of Rigid- Body Systems. / Ju, Ming-Shaung; Mansour, J. M.

In: The International Journal of Robotics Research, Vol. 8, No. 6, 01.01.1989, p. 19-27.

Research output: Contribution to journalArticle

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