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Real-time computational schemes for inverse dynamics of robot manipulators

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3 Author(s)
Chang-Jin Li ; Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada ; Sankar, T.S. ; Hemami, A.

Two fast algorithms for the inverse dynamics computation in real-time robot control are developed by using simple Lagrange-Euler formulation. A C-language program (software package) is developed for implementing these algorithms on a microcomputer. All the algorithms are verified through computing the joint actuator torques for a PUMA-560 robot with six degrees-of-freedom. The high computational efficiency of the proposed algorithms allows the inverse dynamics computation of any practical robot to be implemented on a current microcomputer in real-time. The algorithms proposed are the fastest of all the existing algorithms for robot dynamics computation

Published in:

Decision and Control, 1990., Proceedings of the 29th IEEE Conference on

Date of Conference:

5-7 Dec 1990