Title :
A computational algorithm for robot dynamics
Author :
Anderson, J.N. ; Smiarowski, A., Jr.
Author_Institution :
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. 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;
Conference_Titel :
Southeastcon '89. Proceedings. Energy and Information Technologies in the Southeast., IEEE
Conference_Location :
Columbia, SC
DOI :
10.1109/SECON.1989.132370
