Using the Newton-Euler method to establish a robot kinetic model and linearize, select the five-order Fourier grade as an excitation trajectory, and use the genetic algorithm to obtain the optimal excitation trajectory coefficient. On the basis of being extracted, the dynamic adjustment mechanism ...
RBDL is a highly efficient C++ library that contains some essential rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics and the Composite Rigid Body Algorithm (CRBA) for the efficient computatio...
Robot dynamics modeling has been developing for a long time, and there are many modeling methods, such as Newton Euler method, Lagrange method, Hamilton equation method and so on. In the early days, rigid robots were the main research objects [5], [6], [7]. In practical work, the flex...