Title :
Recursive algorithm for the third-order model of robots
Author :
Smiarowski, A. ; Anderson, J.N.
Author_Institution :
Center for Manuf. Res. & Technol. Utilization, Tennessee Technol. Univ., Cookeville, TN, USA
Abstract :
An efficient computational algorithm for a third-order robot model is derived. It is based on the Newton-Euler dynamics formulation and follows the method used in the algorithm for the second-order model by J.Y.S. Luh et al. (1980). Although the number of computations in the former increased as compared with the latter, it is still linear with respect to number of joints. This algorithm may be used in both simulation and control
Keywords :
dynamics; iterative methods; robots; Newton-Euler dynamics formulation; recursive algorithm; robot model; third-order model; Actuators; Digital control; Force feedback; Gears; Induction motors; Jacobian matrices; Manipulator dynamics; Manufacturing; Robots; Signal processing algorithms;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100218
