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Discrete dynamic robot models

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2 Author(s)
Neuman, C.P. ; Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA ; Tourassis, V.D.

An inherently discrete-time dynamic model is introduced for robotic manipulators. Although robot dynamics are highly coupled and nonlinear, the model is compact and suitable for control engineering applications. The model is designed to guarantee conservation of energy (and momentum, if appropriate) at each sampling instant. Initial numerical experiments with cylindrical robots confirm the feasibility and applicability of the discrete dynamic robot model.

Published in:

Systems, Man and Cybernetics, IEEE Transactions on  (Volume:SMC-15 ,  Issue: 2 )