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The International Journal of Robotics Research
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Solution of the Robot Forward Dynamics Problem by Using a Recursive Procedure Based on the General System Logical Theory

G. V. Tzvetkova

Bulgarian Academy of Sciences, "Acad. G. Bonchev" str, Block 4, 1113 Sofia, Bulgaria

G. Resconi

Universita Cattolica, Via Trieste, 17, 25100 Brescia, Italy

The paper deals with the forward dynamics problem in robotics. The solution of the problem is found on the basis of a new theory, called "general system logical theory." It uses operators and transformation of operators extensively to study objects and their relations in the real world. The basic notions and operator equations are given. The forward dynamics problem is presented as a diagram, called "elementary logical system." The diagram unites a set of variables, a set of operators, and a set of relations between the operators. A generic form of a recursive process using the operators and the Lie product is described. The convergence of the process is discussed. Original operator procedures dedicated to the links of the robot are proposed. The wanted solution is found at the limit of the recursive process. An example is given, as well. The result obtained illustrates the ability of the theory to study robotics problems. The forward dynamics problem is solved in a new way and without inversion of the mass matrix of the robot.

The International Journal of Robotics Research, Vol. 18, No. 10, 1030-1043 (1999)
DOI: 10.1177/02783649922067690
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