An Efficient Algorithm for Generating Manipulator Inertia Matrix Using the Minimum Set of Dynamics Parameters

摘要

This article presents an efficient algorithm for computing the inertia matrix of rigid serial manipulators. The derivation of the algorithm is based on the closed-form formulation of the force and moment exerted on a link using a minimum set of dynamic parameters of the manipulator model. The minimum set of dynamic parameters can be derived completely from the original dynamic parameters using the recursive regrouping method before starting the simulation and the control. The proposed computation method is suitable for the control and the simulation based on parameter estimates because the minimum set of dynamic parameters is an identifiable parameter set. The computational efficiency of the proposed methods is compared with other published methods. It is shown that the proposed algorithm is the most efficient approach for serial manipulators. As an example, the number of computations for the inertia matrix of a manipulator with n rotational joints is 11n~2 +9 n - 35 multiplications and 7n~2 + 23 n - 57 additions by reformulating the dynamic model using the minimum set of dynamic parameters.