Affiliation:
1. École des Mines de Nantes 44070 Nantes, Cedex 03, France
2. Laboratoire d'Automatique de Nantes 44072 Nantes, France
Abstract
This article presents an efficient recursive computation of the in verse dynamics of flexible manipulators. The algorithm is equiva lent to the nonlinear computed torque law offlexible manipulators. The computation method is based on the generalized Newton-Euler model of flexible manipulators and can be considered as a gener alization of the computed torque control algorithm of rigid robots proposed by Luh, Walker, and Paul for executing joint trajectories. The given algorithm is programmed using Mathematica to get au tomatically an efficient customized symbolic model with a reduced number of operations.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software
Cited by
39 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献