Simplified robot arm dynamics for controlA brief summary and evaluation is presented on the use of symbolic state equation techniques in order to represent robot arm dynamics with sufficient accuracy for controlling arm motion. The use of homogeneous transformations and the Lagrangian formulation of mechanics offers a convenient frame for the derivation, analysis and simplification of complex robot dynamics equations. It is pointed out that simplified state equations can represent robot arm dynamics with good accuracy.
Document ID
19830043494
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Bejczy, A. K. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena CA, United States)
Paul, R. P. (Purdue University West Lafayette, IN, United States)
Date Acquired
August 11, 2013
Publication Date
January 1, 1981
Subject Category
Cybernetics
Meeting Information
Meeting: In: Conference on Decision and Control, 20th, and Symposium on Adaptive Processes