A recursive Newton-Euler algorithm for robots with elastic joints and its application to control

Gabriele Buondonno, Alessandro De Luca
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
We consider the problem of computing the inverse dynamics of a serial robot manipulator with N elastic joints in a recursive numerical way. The solution algorithm is a generalized version of the standard Newton-Euler approach, running still with linear complexity O(N ) but requiring to set up recursions that involve higher order derivatives of motion and force variables. Mimicking the case of rigid robots, we use this algorithm and a numerical factorization of the link inertia matrix (which
more » ... s to be inverted in the elastic joint case) for implementing on-line a feedback linearization control law for trajectory tracking purposes. The complete method has a complexity that grows as O(N 3 ). The developed tools are generic, easy to use, and do not require symbolic Lagrangian modeling and customization, thus being of particular interest when the number N of elastic joints becomes large.
doi:10.1109/iros.2015.7354160 dblp:conf/iros/BuondonnoL15 fatcat:ltxzdikryrfftpenze7rifgueq