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A method for computer-aided construction of analytical models of robotic manipulators

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2 Author(s)
M. Vukobratovic ; Mihailo Pupin Institute, Beograd, Yugoslavia ; N. Kircanski

An algorithm for constructing dynamic models of single-arm robots is presented in this paper. Motion equations of robots in analytical form are derived applying a fully automated procedure. It is shown that the solution of direct and/or inverse problem based on the analytical model requires considerably fewer floating- -point multiplications/additions that is the case with previously developed numerical methods. The developed method is therefore very suitable for real-time application of the dynamic models of robots. The developed program package is illustrated using the example of Stanford manipulator.

Published in:

Robotics and Automation. Proceedings. 1984 IEEE International Conference on  (Volume:1 )

Date of Conference:

Mar 1984