DocumentCode
3039085
Title
Simplified robot arm dynamics for control
Author
Bejczy, A.K. ; Paul, R.P.
Author_Institution
California Institute of Technology, Pasadena, CA
fYear
1981
fDate
16-18 Dec. 1981
Firstpage
261
Lastpage
262
Abstract
A brief summary and evaluation is presented on the use of symbolic state equation techniques in order to rapresent robot arm dynamics with sufficient accuracy for controlling arm motion. The use of homogeneous transformations and the Lagrangian formulation of mechanics offers a convenient frame for the derivation, analysis and simplification of complex robot dynamics equations. It is pointed out that simplified state equations can represent robot arm dynamics with good accuracy.
Keywords
Robot control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control including the Symposium on Adaptive Processes, 1981 20th IEEE Conference on
Conference_Location
San Diego, CA, USA
Type
conf
DOI
10.1109/CDC.1981.269524
Filename
4046932
Link To Document