Recently, I read a paper which pointed out the equivalence between recurisive robot dynamics methods and filtering and smoothing techniques from state estimation theory. It is said that the computing complex of this algorithm is O( N ),N is the number of joints.
Does anybody adopt this idea to achieve recurisive robot dynamics model?
Don't think so. Could you please let us know which paper is that? Thanks.
Can you tell us what is the paper you have read or define better what you mean by recursive robot dynamics? Are you talking about Roy Featherstone modelling algorithms?
I think they are dfferent problems. Can you tell us why do you think that they are similar ?
Don't think so. Please share this paper so we can extend this discussion.
Kalman Filtering , Smoothing , and Arm Forward and Inverse ecursive Robot namics
and
Recursive Formulation of Operational Space Control
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=131874
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=1087147
Zhang this paper was published seventeen year ago. To my understanding author is trying to use filtering and smoothing technique to reduce noise which is produced by Recursive Newton Method. In Newton Method you can find some computational stability issues due to constraints and your calculation may deviate. But Author also mention that he is not considering computational efficiency. So numerical stability is not the issue then. In short, I suggest you to take a look on recent development on this topic. You can do this by either searching for articles or also try to track publications of Rodriguez, G.
Tankks,Jawad Masood, I read two publications of Rodriguez, G, and I confirm that the author was try to solved the inverse and forward dynamics problems for multilink serial manipulator by recursive techniques from linear filtering and smoothing theory.
- Badges
- Science topic
- Similar topics
- Phytochemistry
- Extracts