An efficient procedure for generating dynamic manipulator models
- 1 September 1985
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 3 (3) , 147-152
- https://doi.org/10.1017/s0263574700009061
Abstract
An iterative procedure for obtaining dynamic model of manipulator has been proposed in this paper. The high efficiency of the procedure is reached on the basis of iterative relations of dynamic parameters. For general six revolute joint manipulator, the complete dynamic model i.e. matrices H(q), C(q), G(q) and vector of joint torques 13. requires 992 multiplications and 776 additions. When the complete dynamic model is given by 13. the number of operations reduces to 863 multiplications and 773 additions.Keywords
This publication has 1 reference indexed in Scilit:
- On the Derivation of Equations of MotionJournal of the Society for Industrial and Applied Mathematics, 1965