2019/11/22 by Mandy Xie, Xie, Mandy, Frank Dellaert +1
Computer Science · Engineering · #Evolutionary Algorithms and Applications #FOS: Computer and information sciences #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #Teaching and Learning Programming
paper · pdf · doi:10.48550/arxiv.1911.10065
openalex publication_date 2019/11/22 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper describes a unified method solving for inverse, forward, and hybrid dynamics problems for robotic manipulators with either open kinematic chains or closed kinematic loops based on factor graphs. Manipulator dynamics is considered to be a well studied problem, and various different algorithms have been developed to solve each type of dynamics problem. However, they are not easily explained in a unified and intuitive way. In this paper, we introduce factor graphs as a unifying graphical language in which not only to solve all types of dynamics problems, but also explain the classical dynamics algorithms in a unified framework.