Computer-Assisted Robot Modeling for Real-Time Dynamic Control

  • Sandeep Gupta
Conference paper


A major difficulty in the real-time implementation of dynamic controllers for robot arms has been the large computational time required for the solution of robot dynamics. Recursive techniques have been applied successfully for efficient computation of the actuator torques [1,2]. However, the matrix structure of closed-form Lagrange-Euler formulation is very attractive from the control viewpoint. This paper presents an approach for efficient real-time evaluation of the dynamic matrices for robot arms based on the Lagrangian formulation.


Dynamic Matrice Dynamic Controller Symbolic Manipulation Joint Coordinate Actuator Torque 
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    Luh, J. Y. S., Walker, M. W. and Paul, R. P. C: “On-Line Computational Scheme for Mechanical Manipulators,” ASME J. Dyn. Sys. Meas. and Control, Vol. 102, No. 2, 1980, pp. 69–70.CrossRefGoogle Scholar
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    Hollerbach, J. M.: “A Recursive Formulation of Lagrangian Manipulator Dynamics,” IEEE Trans. Systems, Man., Cybernet., SMC-10, 1980, pp. 730–36.CrossRefGoogle Scholar
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    Lee, C. S. G. : “Robot Arm Dynamics,” Tutorial on Robotics, IEEE Computer Society, 1983, pp. 93–102.Google Scholar
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    Gupta, S.: “The Symbolic Polynomial Technique for Modeling and Real Time Control of Robot Arms,” Master’s Thesis, University of Virginia, January 1987.Google Scholar
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    Townsend, M. A. and Gupta, S. : “Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique,” ASME J. Mechanism, Transmission and Automation in Design (submitted for review).Google Scholar

Copyright information

© Springer-Verlag New York Inc. 1988

Authors and Affiliations

  • Sandeep Gupta
    • 1
  1. 1.Vigyan Research Asociates, Inc.HamptonUSA

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