Hostname: page-component-cd9895bd7-8ctnn Total loading time: 0 Render date: 2024-12-25T04:19:35.884Z Has data issue: false hasContentIssue false
  • English
  • Français

Approximate Dynamic Models of Manipulation Robots

Published online by Cambridge University Press:  09 March 2009

N. Djurović  and
M. Vukobratović
N. Djurović
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, Beograd (Yugoslavia)
M. Vukobratović
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, Beograd (Yugoslavia)
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, the problem of real-time computation of a dynamic model of manipulator is considered. In order to decrease the number of operations for dynamic model computation, an approximate model is introduced. Also, a relative error criterion is proposed, which enables one to determine the computing periods of various parts of a dynamic model of manipulator.

Keywords

Dynamic modelManipulatorApproximate.
Type
Article
Information
Robotica , Volume 9 , Issue 3 , July 1991 , pp. 341 - 347
Copyright
Copyright © Cambridge University Press 1991

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Vukobratović, M. and Potkonjak, V., Applied Dynamics and CAD of Manipulation Robots, Series: Scientific Fundamentals of Robotics, 6 (Springer-Verlag, Berlin, 1985).Google Scholar
2.Vukobratović, M. and Kirćanski, N., Real-Time Dynamics of Manipulation Robots, Series: Scientific Fundamentals of Robotics, 4 (Springer-Verlag, Berlin, 1985).Google Scholar
3.Paul, Richard, Rong, Ma and Zhang, Hong, “The Dynamics of the PUMA Manipulator” TR-EE 84−19 REPORT (07, 1984).Google Scholar
4.Tarn, T.J., Belczy, A.K. and Yun, X., “Coordinated Control of Two Robot Arms” IEEE Intern. Conf. On Robotics and Automation, San Francisco (1986) pp. 1193–1202.Google Scholar
5.Vukobratović, M. and Cvetković, V., “Computer-Oriented Algorithm Modeling of Active Spatial Mechanisms for Application in Robotics” Trans, on Systems, Man and Cybern. SMS-12, No. 6, 838–848 (1982).Google Scholar
6.Belczy, A.K., “Robot Arm Dynamics and Control” NASA-JPL Technical Memo, 33–1969 (1974).Google Scholar
7.Coiffet, F., Les Robots, Tome 1. Modelisation et Commande, (Hermes, Paris, 1981).Google Scholar
8.Aldon, M.J. and Liegois, A., “Computational Aspects in Robot Dynamics Modeling” Proc. of Advanced Software in Robotics, Liège, Belgium (1983). pp. 1. A/1–12.Google Scholar
9.Khalil, W., Kleinfinger, J.F. and Gautier, M., “Reducing the Computational Burden of the Dynamic Models of Tree Structure Robots” IEEE. J. Robotics and Automation RA-3, No. 6, 517–526 (1987).CrossRefGoogle Scholar