Abstract
In order to achieve a high-performance, the actuator dynamics must be included in designing a robot manipulator controller. This results in a third-order dynamic model, where the manipulator dynamics and the actuator dynamics are coupled. An efficient algrithm for generating the third-order dynamic equation for a rigid robot arm is presented. The algorithm, which is based on the Lagrangian formulation can be used to design a controller for the manipulator.
| Original language | British English |
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| Pages | 181-188 |
| Number of pages | 8 |
| State | Published - 1992 |
| Event | Proceedings of the 1992 Engineering Systems Design and Analysis Conference - Istanbul, Turk Duration: 29 Jun 1992 → 3 Jul 1992 |
Conference
| Conference | Proceedings of the 1992 Engineering Systems Design and Analysis Conference |
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| City | Istanbul, Turk |
| Period | 29/06/92 → 3/07/92 |