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significance analysis

Robotica (1)

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A symbolic and numeric procedure for manipulator rigid-body dynamic significance analysis and simplification
Peter I. Corke
Journal:

Robotica / Volume 16 / Issue 5 / September 1998

Published online by Cambridge University Press:

01 September 1998, pp. 589-594
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This paper describes an automated procedure for analysing the significance of each of the many terms in the equations of motion for a serial-link robot manipulator. Significance analysis provides insight into the rigid-body dynamic effects that are significant locally or globally in the manipulator's state space. Deleting those terms that do not contribute significantly to the total joint torque can greatly reduce the computational burden for online control, and a Monte-Carlo style simulation is used to investigate the errors thus introduced. The procedures, freely available, are a hybrid of symbolic and numeric techniques implemented using a standard computer algebra package.