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Inverse dynamics applications of discrete robot models

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2 Author(s)
Tourassis, Vassilios D. ; Department of Electrical and Computer Engineering and the Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA 15213, USA ; Neuman, Charles P.

We highlight inverse dynamics applications of our recently introduced discrete-time dynamic robot model. Our discrete model is designed to guarantee conservation of energy (and momentum, if appropriate) over each sampling period, is accelerometer-free, and can reduce the computational time requirements of the real-time controller. Simulation experiments with three degree-of-freedom cylindrical and articulated robots confirm the efficacy of our approach for inverse dynamics and trajectory planning applications.

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:SMC-15 ,  Issue: 6 )