Efficient Computation of Articulated-Body Inertias Using Successive Axial Screws
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Authors
McMillian, Scott
Orin, David E.
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1995-08
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Abstract
The articulated-body (AB) algorithm for dynamic simulation
of chains of rigid bodies was developed by Featherstone [l]. The most
costly step in this algorithm is the computation of the AB inertias at
each Link which involves a spatial (6 x 6) congruence transformation.
The amount of computation required is closely coupled to the kinematic
modeling technique used. This paper examines this computation in detail
and presents an efficient step-by-step procedure for its evaluation in a
serial chain with revolute and prismatic joints using modified Denavit-
Hartenberg parameters for modeling the kinematics. The result is a
very efficient procedure using successive axial screws that reduces the
computational requirements of the AB algorithm by about 15% from
results obtained by Brandl, Johanni, and Otter [2]. The procedure
developed defines a general approach and can be used to improve
the efficiency of spatial congruence transformations of other types of
matrices, such as spatial rigid-body inertias (used in the Composite Rigid-
Body simulation algorithm.
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Article
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Computer Science (CS)
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IEEE Transactions on Robotics and Automation, Volume 11, No. 4, August 1995.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.