Efficient algorithm for the third-order robot dynamics
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Authors: Seneviratne, L.D., Yu, H. and Earles, S.W.E.
Journal: American Society of Mechanical Engineers, Petroleum Division (Publication) PD
Issue: pt 1
In order to achieve a high-performance, the actuator dynamics must be included in designing a robot manipulator controller. This results in a third-order dynamic model, where the manipulator dynamics and the actuator dynamics are coupled. An efficient algrithm for generating the third-order dynamic equation for a rigid robot arm is presented. The algorithm, which is based on the Lagrangian formulation can be used to design a controller for the manipulator.