Efficient algorithm for the third-order robot dynamics

L. D. Seneviratne; H. Yu; S. W.E. Earles

Efficient algorithm for the third-order robot dynamics

L. D. Seneviratne
, H. Yu
, S. W.E. Earles

Mechanical & Nuclear Engineering

King's College London

Research output: Contribution to conference › Paper › peer-review

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
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
City	Istanbul, Turk
Period	29/06/92 → 3/07/92

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title = "Efficient algorithm for the third-order robot dynamics",

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.",

author = "Seneviratne, \{L. D.\} and H. Yu and Earles, \{S. W.E.\}",

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T1 - Efficient algorithm for the third-order robot dynamics

AU - Seneviratne, L. D.

AU - Yu, H.

AU - Earles, S. W.E.

PY - 1992

Y1 - 1992

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/0026771816

M3 - Paper

AN - SCOPUS:0026771816

SP - 181

EP - 188

T2 - Proceedings of the 1992 Engineering Systems Design and Analysis Conference

Y2 - 29 June 1992 through 3 July 1992

ER -

Efficient algorithm for the third-order robot dynamics

Abstract

Conference

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