Simplified robot arm dynamics for control
- 1 December 1981
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 20, 261-262
- https://doi.org/10.1109/cdc.1981.269524
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
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