Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint-angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint-angle accelerations, to the task-object accelerations., and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms

Parallel algorithms and architecture for computation of manipulator forward dynamics

Parallel computation of manipulator forward dynamics is investigated. Considering three classes of algorithms for the solution of the problem, that is, the O(n), the O(n exp 2), and the O(n exp 3) algorithms, parallelism in the problem is analyzed. It is shown that the problem belongs to the class of NC and that the time and processors bounds are of O(log2/2n) and O(n exp 4), respectively. However, the fastest stable parallel algorithms achieve the computation time of O(n) and can be derived by parallelization of the O(n exp 3) serial algorithms. Parallel computation of the O(n exp 3) algorithms requires the development of parallel algorithms for a set of fundamentally different problems, that is, the Newton-Euler formulation, the computation of the inertia matrix, decomposition of the symmetric, positive definite matrix, and the solution of triangular systems. Parallel algorithms for this set of problems are developed which can be efficiently implemented on a unique architecture, a triangular array of n(n+2)/2 processors with a simple nearest-neighbor interconnection. This architecture is particularly suitable for VLSI and WSI implementations. The developed parallel algorithm, compared to the best serial O(n) algorithm, achieves an asymptotic speedup of more than two orders-of-magnitude in the computation the forward dynamics

Calculation of achievable robot joint accelerations based on a new robot forward dynamics algorithm

Abstract An algorithm that calculates the feasible robot joints’ accelerations based on a new forward dynamics algorithm while considering the actuators’ force/torque saturations and achieves a realistic simulation of robot movements is given in this paper. While the most used forward dynamics algorithm in the literature, Walker and Orin’s Method 1, calculates robot forward dynamics by executing Recursive Newton-Euler Algorithm (RNEA) n + 1 times, where n is the number of degrees-of-freedom (DoFs), algorithm used here solves forward dynamics using the modified RNEA (mRNEA) only once. Owing to that, this algorithm is very efficient. Furthermore, the computational complexity of the algorithm is even more significant when used for robot simulation as it does not require calculating joint torques as inputs for forward dynamics, unlike other methods. Another benefit of the proposed method is the ease of development and implementation for a specific robot. The proposed mRNEA and its application within the forward dynamics algorithm are demonstrated using a serial 4-DoF spatial disorientation trainer as an example

Forward Dynamics Estimation from Data-Driven Inverse Dynamics Learning

In this paper, we propose to estimate the forward dynamics equations of mechanical systems by learning a model of the inverse dynamics and estimating individual dynamics components from it. We revisit the classical formulation of rigid body dynamics in order to extrapolate the physical dynamical components, such as inertial and gravitational components, from an inverse dynamics model. After estimating the dynamical components, the forward dynamics can be computed in closed form as a function of the learned inverse dynamics. We tested the proposed method with several machine learning models based on Gaussian Process Regression and compared them with the standard approach of learning the forward dynamics directly. Results on two simulated robotic manipulators, a PANDA Franka Emika and a UR10, show the effectiveness of the proposed method in learning the forward dynamics, both in terms of accuracy as well as in opening the possibility of using more structured~models

Invariant set of weight of perceptron trained by perceptron training algorithm

In this paper, an invariant set of the weight of the perceptron trained by the perceptron training algorithm is defined and characterized. The dynamic range of the steady state values of the weight of the perceptron can be evaluated via finding the dynamic range of the weight of the perceptron inside the largest invariant set. Also, the necessary and sufficient condition for the forward dynamics of the weight of the perceptron to be injective as well as the condition for the invariant set of the weight of the perceptron to be attractive is derived

Ergodic BSDEs with jumps and time dependence

In this paper we look at ergodic BSDEs in the case where the forward dynamics are given by the solution to a non-autonomous (time-periodic coefficients) Ornstein-Uhlenbeck SDE with L\'evy noise, taking values in a separable Hilbert space. We establish the existence of a unique bounded solution to an infinite horizon discounted BSDE. We then use the vanishing discount approach, together with coupling techniques, to obtain a Markovian solution to the EBSDE. We also prove uniqueness under certain growth conditions. Applications are then given, in particular to risk-averse ergodic optimal control and power plant evaluation under uncertainty

Recursive dynamics for flexible multibody systems using spatial operators

Due to their structural flexibility, spacecraft and space manipulators are multibody systems with complex dynamics and possess a large number of degrees of freedom. Here the spatial operator algebra methodology is used to develop a new dynamics formulation and spatially recursive algorithms for such flexible multibody systems. A key feature of the formulation is that the operator description of the flexible system dynamics is identical in form to the corresponding operator description of the dynamics of rigid multibody systems. A significant advantage of this unifying approach is that it allows ideas and techniques for rigid multibody systems to be easily applied to flexible multibody systems. The algorithms use standard finite-element and assumed modes models for the individual body deformation. A Newton-Euler Operator Factorization of the mass matrix of the multibody system is first developed. It forms the basis for recursive algorithms such as for the inverse dynamics, the computation of the mass matrix, and the composite body forward dynamics for the system. Subsequently, an alternative Innovations Operator Factorization of the mass matrix, each of whose factors is invertible, is developed. It leads to an operator expression for the inverse of the mass matrix, and forms the basis for the recursive articulated body forward dynamics algorithm for the flexible multibody system. For simplicity, most of the development here focuses on serial chain multibody systems. However, extensions of the algorithms to general topology flexible multibody systems are described. While the computational cost of the algorithms depends on factors such as the topology and the amount of flexibility in the multibody system, in general, it appears that in contrast to the rigid multibody case, the articulated body forward dynamics algorithm is the more efficient algorithm for flexible multibody systems containing even a small number of flexible bodies. The variety of algorithms described here permits a user to choose the algorithm which is optimal for the multibody system at hand. The availability of a number of algorithms is even more important for real-time applications, where implementation on parallel processors or custom computing hardware is often necessary to maximize speed