论文信息 - A near Minimum Iterative Analytical Procedure for Obtaining a Robot-Manipulator Dynamic Model

A near Minimum Iterative Analytical Procedure for Obtaining a Robot-Manipulator Dynamic Model

The dynamic control synthesis of robot manipulators requires a great number of arithmetic operations, and it cannot be effected in real time unless this number is reduced. This paper presents a systematic analytical procedure for obtaining the dynamic model necessary for the dynamic control synthesis. This procedure which uses a Lagrangian formulation is applicable to all manipulators having a simple kinematic chain structure with revolute and/or prismatic joints.

Marc Renaud | M. Renaud

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