Research Papers

General Dynamic Algorithm for Floating Base Tree Structure Robots With Flexible Joints and Links

[+] Author and Article Information
Wisama Khalil

Institut de Recherche en Cybernétique
de Nantes (IRCCyN),
Ecole Centrale de Nantes (ECN),
Nantes 44321, France
e-mail: Wisama.khalil@irccyn.ec-nantes.fr

Frederic Boyer

Institut de Recherche en Cybernétique
de Nantes (IRCCyN),
Ecole des Mines de Nantes (EMN),
Nantes 44300, France
e-mail: frederic.boyer@emn.fr

Ferhat Morsli

Institut de Recherche en Cybernétique
de Nantes (IRCCyN),
Ecole des Mines de Nantes (EMN),
Nantes 44300, France
e-mail: ferhat.morsli@mines-nantes.fr

Manuscript received April 5, 2016; final manuscript received December 25, 2016; published online March 20, 2017. Assoc. Editor: Marc Gouttefarde.

J. Mechanisms Robotics 9(3), 031003 (Mar 20, 2017) (13 pages) Paper No: JMR-16-1089; doi: 10.1115/1.4035798 History: Received April 05, 2016; Revised December 25, 2016

This paper presents a general algorithm for solving the dynamic of tree structure robots with rigid and flexible links, active and passive joints, and with a fixed or floating base. The algorithm encompasses in a unified approach both the inverse and direct dynamics. It addresses also the hybrid case where each active joint is considered with known joint torque as in the direct dynamic case, or with known joint acceleration as in the inverse dynamic case. To achieve this goal, we propose an efficient recursive approach based on the generalized Newton–Euler equations of flexible tree-structure systems. This new general hybrid algorithm is easy to program either numerically or using efficient customized symbolic techniques. It is of great interest for studying floating base systems with soft appendages as those currently investigated in soft bio-inspired robotics or when a robotic system has to modify its structure for some particular tasks, such as transforming an active joint into a compliant flexible one, or modifying a task with a floating base into one with fixed base.

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Grahic Jump Location
Fig. 2

Parametric transformation of a flexible link

Grahic Jump Location
Fig. 1

Geometric parameters for frame j

Grahic Jump Location
Fig. 3

Composite link Bj+

Grahic Jump Location
Fig. 4

Forces and moments acting on link j

Grahic Jump Location
Fig. 6

Simulation block diagram

Grahic Jump Location
Fig. 5

Schematic of a fish like robot with two pectoral fins and one caudal fin

Grahic Jump Location
Fig. 7

Floating base linear acceleration errors

Grahic Jump Location
Fig. 8

MAV with twistable flapping wings

Grahic Jump Location
Fig. 9

Three degrees-of-freedom SCARA robot performing an insertion task




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