In *2009 IEEE International Conference on Robotics and Automation*, pages 3359–3364, May, 2009.

doi abstract bibtex

doi abstract bibtex

We present a modified recursive Newton-Euler method for computing some dynamic expressions that arise in two problems of fault detection and control of serial robot manipulators, and which cannot be evaluated numerically using the standard method. The two motivating problems are: i) the computation of the residual vector that allows accurate detection of actuator faults or unexpected collisions using only robot proprioceptive measurements, and ii) the evaluation of a passivity-based trajectory tracking control law. The modified Newton-Euler algorithm generates factorization matrices of the Coriolis and centrifugal terms that satisfy the skew-symmetric property. The computational advantages with respect to numerical evaluation of symbolically obtained dynamic expressions is illustrated on a 7R DLR lightweight manipulator.

@inproceedings{luca_modified_2009, title = {A modified newton-euler method for dynamic computations in robot fault detection and control}, doi = {10.1109/ROBOT.2009.5152618}, abstract = {We present a modified recursive Newton-Euler method for computing some dynamic expressions that arise in two problems of fault detection and control of serial robot manipulators, and which cannot be evaluated numerically using the standard method. The two motivating problems are: i) the computation of the residual vector that allows accurate detection of actuator faults or unexpected collisions using only robot proprioceptive measurements, and ii) the evaluation of a passivity-based trajectory tracking control law. The modified Newton-Euler algorithm generates factorization matrices of the Coriolis and centrifugal terms that satisfy the skew-symmetric property. The computational advantages with respect to numerical evaluation of symbolically obtained dynamic expressions is illustrated on a 7R DLR lightweight manipulator.}, booktitle = {2009 {IEEE} {International} {Conference} on {Robotics} and {Automation}}, author = {Luca, A. De and Ferrajoli, L.}, month = may, year = {2009}, keywords = {Actuators, Automatic control, Fault detection, Kinetic theory, Lagrangian functions, Manipulator dynamics, Newton method, Robot control, Robot sensing systems, Robotics and automation, Trajectory, actuator fault detection, actuators, dynamic expression computation, fault diagnosis, manipulator dynamics, matrix decomposition, matrix factorization, mobile robots, modified recursive Newton-Euler method, passivity-based trajectory tracking control law, position control, recursive functions, robot fault detection, serial robot manipulator control, skew-symmetric property, tracking}, pages = {3359--3364} }

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