Robot arm dynamic model reduction for controlGeneral methods are described by which the mathematical complexities of explicit and exact state equations of robot arms can be reduced to a simplified and compact state equation representation without introducing significant errors into the robot arm dynamic model. The model reduction methods are based on homogeneous coordinates and on the Langrangian algorithm for robot arm dynamics, and utilize matrix, vector and numeric analysis techniques. The derivation of differential vector representation of centripetal and Coriolis forces which has not yet been established in the literature is presented.
Document ID
19850051167
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Bejczy, A. K. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena CA, United States)
Lee, S. (Southern California, University Los Angeles, CA, United States)