Research Papers

Operational Space Inertia for Closed-Chain Robotic Systems

[+] Author and Article Information
Abhinandan Jain

Jet Propulsion Laboratory,
California Institute of Technology,
4800 Oak Grove Drive,
Pasadena CA 91109
e-mail: Abhi.Jain@jpl.nasa.gov

This research on the closed-chain OSIM has also been reported in a recent conference paper.

The A*notation denotes the transpose of the A matrix.

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.

J. Comput. Nonlinear Dynam 9(2), 021015 (Jan 09, 2014) (5 pages) Paper No: CND-12-1119; doi: 10.1115/1.4025893 History: Received July 24, 2012; Revised October 29, 2013

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.

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Grahic Jump Location
Fig. 1

Example system with (a) closed-chain topology, and (b) after decomposing into a tree topology system with a loop closure constraint



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