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Approximate Dynamic Models of Manipulation Robots

Published online by Cambridge University Press:  09 March 2009

N. Djurović  and
M. Vukobratović
N. Djurović
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, Beograd (Yugoslavia)
M. Vukobratović
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, Beograd (Yugoslavia)
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Summary

In this paper, the problem of real-time computation of a dynamic model of manipulator is considered. In order to decrease the number of operations for dynamic model computation, an approximate model is introduced. Also, a relative error criterion is proposed, which enables one to determine the computing periods of various parts of a dynamic model of manipulator.

Keywords

Dynamic modelManipulatorApproximate.

Information

Type
Article
Information
Robotica , Volume 9 , Issue 3 , July 1991 , pp. 341 - 347
Copyright
Copyright © Cambridge University Press 1991

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References

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