Show simple item record

dc.contributor.authorFeatherstone, Royen
dc.date.accessioned2016-12-06T10:20:38Z
dc.date.available2016-12-06T10:20:38Z
dc.date.issued1984
dc.identifier.urihttp://hdl.handle.net/1842/18179
dc.description.abstractIn this dissertation I introduce a new notation for representing rigid-body dynamics, and use it to describe a number of methods for calculating robot dynamics efficiently. The notation (called spatial notation) is based on the use of 6- dimensional vectors (called spatial vectors) which combine the linear and angular aspects of rigid-body dynamics. Spatial vectors are similar to quantities called screws and motors. The use of spatial notation allows a more concise treatment of problems in rigid-body dynamics than is possible by the conventional vector approach by reducing the number of quantities required to describe a system and the number and size of equations relating those quantities. I consider both forward and inverse robot dynamics, though I am concerned mainly with forward dynamics. Three basic algorithms are described: the recursive Newton-Euler method for inverse dynamics, and the composite-rigid-body and articulated-body methods for forward dynamics. The articulated-body method is new, and is based on the use of quantities called articulated-body inertias which relate the force applied to a member of a linkage to the acceleration induced in that member, taking into account the effect of the rest of the link¬ age. Once the basic algorithms have been introduced, I consider some aspects of their implementation on a computer, then I describe vari¬ ous extensions of the basic algorithms to cater for generalisations of the robot's structure, including multiple-degree-of-freedom joints and branched kinematic chains. Finally, I consider the problem of simulating contact and impact between the robot and its environment.en
dc.publisherThe University of Edinburghen
dc.relation.ispartofAnnexe Thesis Digitisation Project 2016 Block 5en
dc.relation.isreferencedbyAlready catalogueden
dc.titleRobot dynamics algorithmsen
dc.typeThesis or Dissertationen
dc.type.qualificationlevelDoctoralen
dc.type.qualificationnamePhD Doctor of Philosophyen


Files in this item

This item appears in the following Collection(s)

Show simple item record