DocumentCode
3312363
Title
A computational algorithm for robot dynamics
Author
Anderson, J.N. ; Smiarowski, A., Jr.
Author_Institution
Tennessee Technol. Univ., Cookeville, TN, USA
fYear
1989
fDate
9-12 Apr 1989
Firstpage
256
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. The computational complexity is linear with respect to number of degrees of freedom. It is concluded that the proposed algorithm may be used in both simulation and control
Keywords
dynamics; robots; Newton-Euler dynamics formulation; computational complexity; robot dynamics; third-order robot model; Actuators; Digital control; Force feedback; Gears; Heuristic algorithms; Induction motors; Jacobian matrices; Manipulator dynamics; Robots; Signal processing algorithms;
fLanguage
English
Publisher
ieee
Conference_Titel
Southeastcon '89. Proceedings. Energy and Information Technologies in the Southeast., IEEE
Conference_Location
Columbia, SC
Type
conf
DOI
10.1109/SECON.1989.132370
Filename
132370
Link To Document