Inverse dynamic problem in robots using Gibbs-Appell equations

摘要

In this paper, two algorithms for solving the Inverse Dynamic Problem based on the Gibbs-Appell equations are proposed and verified. Both are developed using mainly vectorial variables, and the equations are expressed in a recursive form. The first algorithm has a computational complexity of O ( n 2 ) and is the least efficient of the two; the second algorithm has a computational complexity of O ( n ). This algorithm will be compared with one based on Newton-Euler equations of motion, formulated in a similar way, and using mainly vectors in its recursive formulation. The O ( n ) proposed algorithm will be used to solve the Inverse Dynamic Problem in a PUMA industrial robot.