Abstract
To simulate the motion of a manipulator, one must make use of a model of real robot dynamics, where the robot dynamics is usually given by the Newton-Euler equations. A reliable model of a robot is essential not only for simulation purposes but also to let the designer to develop better control algorithms. In literature, the models usually used are given by state-equations; the basic disadvantage of using these models is that they create cumulative errors in simulation. In this study, a new method is proposed which determines the error between the discrete, linear, time-variant model and the real robot dynamics over torques. This error dynamic which possess a predictive character produced very efficient results in obtaining error-free model of a robot.
Original language | English |
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Pages | 211-216 |
Number of pages | 6 |
Publication status | Published - 1991 |
Event | Proceedings of the 11th Triennial World Congress of the International Federation of Automatic Control - Tallinn, USSR Duration: 13 Aug 1990 → 17 Aug 1990 |
Conference
Conference | Proceedings of the 11th Triennial World Congress of the International Federation of Automatic Control |
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City | Tallinn, USSR |
Period | 13/08/90 → 17/08/90 |