TY - GEN
T1 - A symbolic geometric formulation of branched articulated multibody systems based on graphs and Lie groups
AU - Escalera, Juan A.
AU - Abu-Dakka, Fares J.
AU - Abderrahim, Mohamed
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - In this article we present a symbolic closedform matrix formulation to obtain the dynamic equations of branched articulated multibody systems (AMS)s. The proposed approach uses geometric mechanics based on Screw Theory and Lie groups. Both Lagrange's and Newton-Euler's equation of motion are derived. Furthermore, the structure of the proposed set of geometric equations holds the intrinsic robot parameters explicitly arranged like symbolic matrices. The formulation is valid for any branched AMS without closed kinematic chains and whose joints have one degree of freedom (DoF) (revolute and/or prismatic). All these properties allow the use of these equations in different algorithms such as identification, simulation and control of branched AMSs like hands or humanoids. Finally, the proposed equations have been validated and verified with the multi-body simulation software package MSC=ADAMS© by computing the inverse dynamics of a two arm torso of 16 DoF.
AB - In this article we present a symbolic closedform matrix formulation to obtain the dynamic equations of branched articulated multibody systems (AMS)s. The proposed approach uses geometric mechanics based on Screw Theory and Lie groups. Both Lagrange's and Newton-Euler's equation of motion are derived. Furthermore, the structure of the proposed set of geometric equations holds the intrinsic robot parameters explicitly arranged like symbolic matrices. The formulation is valid for any branched AMS without closed kinematic chains and whose joints have one degree of freedom (DoF) (revolute and/or prismatic). All these properties allow the use of these equations in different algorithms such as identification, simulation and control of branched AMSs like hands or humanoids. Finally, the proposed equations have been validated and verified with the multi-body simulation software package MSC=ADAMS© by computing the inverse dynamics of a two arm torso of 16 DoF.
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U2 - 10.1109/IROS.2016.7759467
DO - 10.1109/IROS.2016.7759467
M3 - Conference contribution
AN - SCOPUS:85006339982
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3018
EP - 3023
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -