Operational space modeling and control are important techniques for robot manipulation. A key element of operational space control is the operational space inertia matrix (OSIM). The OSIM matrix represents a mapping between end-effector spatial forces and spatial accelerations and is configuration-dependent. In the case of multiple end-effectors, the OSIM also encapsulates the dynamics cross coupling between the end-effectors. The rich structure of the OSIM for tree systems has been exploited by researchers for analysis and the development of low-order computational algorithms. Extending such techniques to the OSIM for closed-chain robotic systems is the focus of this short paper. We derive explicit analytical expressions for the closed-chain OSIM that reveals its close relationship to an extended tree-system OSIM.
Operational Space Inertia for Closed-Chain Robotic Systems
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received July 24, 2012; final manuscript received October 29, 2013; published online January 9, 2014. Assoc. Editor: Jozsef Kovecses.
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Jain, A. (January 9, 2014). "Operational Space Inertia for Closed-Chain Robotic Systems." ASME. J. Comput. Nonlinear Dynam. April 2014; 9(2): 021015. https://doi.org/10.1115/1.4025893
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