Computer-Assisted Robot Modeling for Real-Time Dynamic Control
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.
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