Title :
Discrete dynamic robot models
Author :
Neuman, C.P. ; Tourassis, Vassilios D.
Author_Institution :
Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
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;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMC.1985.6313349
