An Approach to Development of Real-Time Robot Models
A general organization of a new software-development system (SDS) for robotic controllers is described. The 3 main parts of SDS are shortly presented: 1. The program-system for the generation of symbolic kinematic models, 2) The program-system for the generation of dynamic robot models in a numeric-symbolic form, and 3. The time distribution analysis module. The first two parts are designed to produce computationally very efficient forms of models. The third module is intended for obtaining the maximal time intervals allowable for the computation of robot kinematics and dynamics. This module is based on an automated FFT algorithm.
KeywordsAmplitude Spectrum Source Program Robot Controller Robot Model Linearize Dynamic Model
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