A Unified Method for Solving Inverse, Forward, and Hybrid Manipulator Dynamics using Factor Graphs

11/22/2019
by   Mandy Xie, et al.
0

This paper describes a unified method solving for inverse, forward, and hybrid dynamics problems for robotic manipulators with either open kinematic chains or closed kinematic loops based on factor graphs. Manipulator dynamics is considered to be a well studied problem, and various different algorithms have been developed to solve each type of dynamics problem. However, they are not easily explained in an unified and intuitive way. In this paper, we introduce factor graphs as a unifying graphical language in which not only to solve all types of dynamics problems, but also explain the classical dynamics algorithms in a unified framework.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
01/08/2021

A general framework for modeling and dynamic simulation of multibody systems using factor graphs

In this paper, we present a novel general framework grounded in the fact...
research
11/11/2020

A Factor-Graph Approach for Optimization Problems with Dynamics Constraints

In this paper, we introduce dynamics factor graphs as a graphical framew...
research
07/11/2023

Forward Dynamics Estimation from Data-Driven Inverse Dynamics Learning

In this paper, we propose to estimate the forward dynamics equations of ...
research
09/10/2023

An Overview of Formulae for the Higher-Order Kinematics of Lower-Pair Chains with Applications in Robotics and Mechanism Theory

The motions of mechanisms can be described in terms of screw coordinates...
research
10/11/2020

Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization

Benchmarks of state-of-the-art rigid-body dynamics libraries have report...
research
11/15/2010

The Inverse Task of the Reflexive Game Theory: Theoretical Matters, Practical Applications and Relationship with Other Issues

The Reflexive Game Theory (RGT) has been recently proposed by Vladimir L...
research
11/02/2022

Inverse Kinematics with Dual-Quaternions, Exponential-Maps, and Joint Limits

We present a novel approach for solving articulated inverse kinematic pr...

Please sign up or login with your details

Forgot password? Click here to reset