Dynamic analysis for robot arm controlExplicit state equations provide detailed analytic insight into the dynamic behavior of a robot arm and facilitate the understanding of the control problem. The analytic strength of explicit state equations is exemplified for a given robot arm. In fact, for the quoted example, the explicit and exact state equations involve considerably less computation than the use of the known most efficient general-purpose computational algorithm for robot arm dynamics.
Document ID
19840042696
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Bejczy, A. K. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena CA, United States)