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Computational requirements for a discrete Kalman filter in robot dynamics algorithms

Published online by Cambridge University Press:  09 March 2009

Krzysztof Kozłowski
Krzysztof Kozłowski
Affiliation:
Poznan Technical University, Robotics and Automation Laboratory, ul.Piotrowo 3a, 60–965 Poznań (Poland)
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Summary

In standard classical kinematic and dynamic considerations the equations of motion for an n-link manipulator can be obtained as recursive Newton-Euler equations. Another approach to finding the inverse dynamics equations is to formulate the system dynamics and kinematics as a two-point boundary-value problem. The equivalence between these two approaches has been proved in this paper. Solution to the two-point boundary-value problem leads to the forward dynamics equations which are similar to the equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing. The extensive numerical studies conducted by the author on the new inverse and forward dynamics algorithms derived from the two-point boundary-value problem establish the same level of confidence as exists for current methods. In order to obtain the algorithms with the smallest coefficients of the polynomial of order O(n), the categorization procedure has been implemented in this work.

Keywords

Robot dynamicsKalman filterDynamics algorithmComputational requirements.
Type
Research Article
Information
Robotica , Volume 11 , Issue 1 , January 1993 , pp. 27 - 36
Copyright
Copyright © Cambridge University Press 1993

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