DocumentCode
1300512
Title
Discrete dynamic robot models
Author
Neuman, C.P. ; Tourassis, Vassilios D.
Author_Institution
Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
Issue
2
fYear
1985
Firstpage
193
Lastpage
204
Abstract
An inherently discrete-time dynamic model is introduced for robotic manipulators. Although robot dynamics are highly coupled and nonlinear, the model is compact and suitable for control engineering applications. The model is designed to guarantee conservation of energy (and momentum, if appropriate) at each sampling instant. Initial numerical experiments with cylindrical robots confirm the feasibility and applicability of the discrete dynamic robot model.
Keywords
control system analysis; discrete time systems; industrial robots; applicability; cylindrical robots; discrete-time dynamic model; feasibility; robot models; robotic manipulators; Computational modeling; Dynamics; Equations; Manipulator dynamics; Mathematical model; Robot kinematics;
fLanguage
English
Journal_Title
Systems, Man and Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
0018-9472
Type
jour
DOI
10.1109/TSMC.1985.6313349
Filename
6313349
Link To Document