@inproceedings{bd445a4ef32248b2aa41f8eb7bd7eb4a,
title = "An efficient algorithm for robot arm dynamics including motor effects",
abstract = "An efficient algorithm for generating the dynamic equations for a rigid robot arm, including actuator dynamics, is presented. The method is based on a Lagrangian formulation and the resulting equations are third order, with the manipulator dynamics and the actuator dynamics being coupled. The system dynamic coefficients are computed with reference to moving coordinate frames attached to the links of the manipulator. The algorithm has many practical applications including the design of control systems and dynamic simulations.",
author = "Seneviratne, {L. D.} and H. Yi and Earles, {S. W.E.}",
note = "Publisher Copyright: {\textcopyright} 1992 IEEE.; 1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 ; Conference date: 11-08-1992 Through 14-08-1992",
year = "1992",
doi = "10.1109/ETFA.1992.683313",
language = "British English",
series = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "550--555",
editor = "R. Zurawski and T.S. Dillon",
booktitle = "IEEE International Workshop on Emerging Technologies and Factory Automation",
address = "United States",
}