Inverse dynamics applications of discrete robot models
- 1 November 1985
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics
- Vol. SMC-15 (6) , 798-803
- https://doi.org/10.1109/TSMC.1985.6313465
Abstract
The authors highlight inverse dynamics applications of their recently introduced discrete-time dynamic robot model. The model is designed to guarantee conservation of energy (and momentum, if appropriate) over each sampling period, is accelerometer-free, and can reduce the computational time requirements of the real-time controller. Simulation experiments with three-degree-of-freedom cylindrical and articulated robots confirm the efficacy of the approach for inverse dynamics and trajectory planning applications.Keywords
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