A recursive, numerically stable, and efficient simulation algorithm for serial robots (Q880994)
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scientific article; zbMATH DE number 5155281
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| English | A recursive, numerically stable, and efficient simulation algorithm for serial robots |
scientific article; zbMATH DE number 5155281 |
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A recursive, numerically stable, and efficient simulation algorithm for serial robots (English)
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21 May 2007
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The authors develop governing dynamical equations for a serial robot with rigid links. The key features of the development are: 1) the use of Euler-Lagrange formulation, and 2) the use of decoupled natural orthogonal complement matrices. The claim is that the development is recursive, efficient, and numerically stable. The dynamic analysis of a six-degree-of-freedom PUMA robot serves as an illustrative example. The paper is potentially useful to engineers interested in algorithm development for robot dynamics and control.
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Euler-Lagrange dynamics
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decoupled natural orthogonal complement matrices
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PUMA robot
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