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A computational algorithm for robot dynamics

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2 Author(s)
Anderson, J.N. ; Tennessee Technol. Univ., Cookeville, TN, USA ; Smiarowski, A., Jr.

An efficient computational algorithm for a third-order robot model is derived. It is based on the Newton-Euler dynamics formulation and follows the method used in the algorithm for the second-order model. The computational complexity is linear with respect to number of degrees of freedom. It is concluded that the proposed algorithm may be used in both simulation and control

Published in:

Southeastcon '89. Proceedings. Energy and Information Technologies in the Southeast., IEEE

Date of Conference:

9-12 Apr 1989