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

Volume: 47

Issue: pt 1

Pages: 181-188

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.

The data on this page was last updated at 04:57 on May 21, 2019.