Akira Yanou    Department   Kawasaki University of Medical Welfare  ,    Position   Professor
Language	English
Title	Iterative Calculation Method for Constraint Motion by Extended Newton-Euler Method and Application for Forward Dynamics
Conference	2015 IEEE/SICE International Symposium on System Intergaration (SII)
Conference Type	International society and overseas society
Presentation Type	Speech
Lecture Type	General
Publisher and common publisher	◎Xiang Li, Jumpei Nishiguchi, Mamoru Minami, Takayuki Matsuno and Akira Yanou
Date	2015/12
Venue (city and name of the country)	Nagoya, Japan
Summary	There are two principal methods to derivate motion of equation of robot manipulator, which are Newton-Euler (NE) method and Lagrange method. The NE method enables to make a dynamical model of robots and it is possible to calculate internal force and torque not generating real motion of robot manipulator, seemed to be an advantage of the NE method that Lagrange method does not have. This merit can be applicable for propagations of constraint and impact force/torque when discussing humanoids walking based on strict dynamical models. So far, the NE method has been applied to a robot of open-loop serial-linkage structure. However, the NE method has been limited to a motion without contacting with environment. Although robot task to the hand contact with environment, for example assembly task, grinding task is important, it has not been formulated in the way of the NE method. So, this paper proposes iterative calculation method for representing constraint dynamical motion of robot manipulator utilizing inverse dynamic calculation the NE method, leading and enabling the forward dynamics calculation of constraint motions to be dealt recursively through proposed the extended NE method for constraint motions, with no use of explicit representation of equation of motions. We applied this method to 2-linkage and 3-linkage manipulators and evaluated its validity by numerical simulations.