Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra

Eduardo Jose Bayro Corrochano; Daniel Alvarado-Mejía

doi:10.1109/MMAR62187.2024.10680766

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Title

Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra

Authors

Eduardo Jose Bayro Corrochano (WARiE) ^{[ 1 ][ 2.2 ][ P ]}
Daniel Alvarado-Mejía

^{[ 1 ]} Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technologies

Year of publication

2024

Chapter type

chapter in monograph / paper

Publication language

english

Keywords

EN

Motor algebra
Conformal Geometric Algebra
Newton-Euler Dynamics
Modelling
Robotics

Abstract

EN In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.

Pages (from - to)

137 - 143

DOI

10.1109/MMAR62187.2024.10680766

URL

https://www.researchgate.net/publication/384172588_Newton-Euler_Modeling_of_Robot_Dynamics_Using_Geometric_Algebra/citations

Book

2024 28th International Conference on Methods and Models in Automation and Robotics (MMAR)

Presented on

28th International Conference on Methods and Models in Automation and Robotics, MMAR 2024, 27-30.08.2024, Międzyzdroje, Poland

Ministry points / chapter

20