Efficient method for robot forward dynamics computation
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.103680
Abstract: Abstract Conventional methods for solving robot forward dynamics are characterized by high computational complexity. Recursive Newton-Euler algorithm (RNEA) is the most efficient computational method used for deriving a manipulator's dynamic equations of motion. In order… read more here.
Keywords: efficient method; rnea; robot forward; robot ... See more keywords
Unified GPU-Parallelizable Robot Forward Dynamics Computation Using Band Sparsity
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2017.2735479
Abstract: This letter proposes a unified GPU-parallelizable approach for robot forward dynamics (FD) computation based on the key fact that parallelism of prevailing FD algorithms benefits from the essential band sparsity of the joint space inertia… read more here.
Keywords: unified gpu; band sparsity; dynamics computation; robot forward ... See more keywords
Task Space Control of Articulated Robot Near Kinematic Singularity: Forward Dynamics Approach
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2965071
Abstract: In this study, a forward dynamics-based control (FDC) framework is proposed for task space control of a non-redundant robot manipulator. The FDC framework utilizes forward dynamic robot simulation and an impedance controller to solve the… read more here.
Keywords: control; task space; forward dynamics; robot ... See more keywords
On the Estimation Accuracy of the 3D Body Center of Mass Trajectory during Human Locomotion: Inverse vs. Forward Dynamics
Sign Up to like & getrecommendations! Published in 2017 at "Frontiers in Physiology"
DOI: 10.3389/fphys.2017.00129
Abstract: The dynamics of body center of mass (BCoM) 3D trajectory during locomotion is crucial to the mechanical understanding of the different gaits. Forward Dynamics (FD) obtains BCoM motion from ground reaction forces while Inverse Dynamics… read more here.
Keywords: trajectory; center mass; body center; forward dynamics ... See more keywords