Acta Applicandae Mathematica

, Volume 3, Issue 1, pp 49–70 | Cite as

Computer-assisted generation of robot dynamic models in an analytical form

  • M. Vukobratović
  • N. Kipćanski
Article
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Abstract

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 a direct and/or inverse problem based on the analytical model requires considerably fewer floating-point multiplications/additions than is the case with previously-developed numerical methods. The developed method is therefore very suitable for real-time application of robot dynamic models. The developed program package is illustrated using the example of Stanford manipulator.

AMS (MOS) subject classifications (1980)

93A99 68K05 

Key words

Multivariable systems sensitivity model linearized model redundancy symbolic model adaptive control optimal graph structural matrice on-line computation dynamic model Coriolis effects programming language 
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Copyright information

© D. Reidel Publishing Company 1985

Authors and Affiliations

  • M. Vukobratović
    • 1
  • N. Kipćanski
    • 1
  1. 1.Mihailo Pupin InstituteBelgradeYugoslavia

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