## Özet

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.

Orijinal dil | İngilizce |
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Sayfalar | 211-216 |

Sayfa sayısı | 6 |

Yayın durumu | Yayınlandı - 1991 |

Etkinlik | Proceedings of the 11th Triennial World Congress of the International Federation of Automatic Control - Tallinn, USSR Süre: 13 Ağu 1990 → 17 Ağu 1990 |

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???event.eventtypes.event.conference??? | Proceedings of the 11th Triennial World Congress of the International Federation of Automatic Control |
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Şehir | Tallinn, USSR |

Periyot | 13/08/90 → 17/08/90 |