Real-time solving of dynamic problem in industrial robots

Purpose - The purpose of this paper is to present the development and validation of a methodology which allows modeling and solving the inverse and direct dynamic problem in real time in robot manipulators.Design methodology approach - The robot dynamic equation is based on the Gibbs-Appell equation...

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Veröffentlicht in:	Industrial robot 2011-01, Vol.38 (2), p.119-129
Hauptverfasser:	Rosillo, Nuria, Valera, Angel, Benimeli, Francesc, Mata, Vicente, Valero, Francisco
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Applied sciences Automation Computer programming Computer science control theory systems Control algorithms Control theory. Systems Drives Dynamics Exact sciences and technology Friction Industrial equipment Industrial robots Linkage mechanisms, cams Manufacturing engineering Mathematical analysis Mathematical models Mechanical engineering. Machine design Modelling and identification Parameter identification Real time Robotics Robots Studies
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