Fast inverse dynamics computation in real-time robot control

被引：0
|
作者：
Li, Chang-Jin [1 ]
Sankar, T.S. [1 ]
机构：
[1] Concordia Univ, Montreal, Canada
来源：
Mechanism & Machine Theory | 1992年 / 27卷 / 06期
关键词：
Algorithms - Control Systems - Dynamics - Efficiency - Real Time Systems;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, two fast algorithms for the inverse dynamics computation in real-time robot control are developed by using simple Lagrange-Euler formulation. The high computational efficiency of the proposed algorithms can make the inverse dynamics computation of any practical robot to be implemented on a current microcomputer in real-time. As compared with other existing algorithms, the algorithms proposed in this paper are, computationally, the fastest of all the existing algorithms for robot dynamics computation.
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页码：741 / 750
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