Discrete Dynamic Robot Models

Charles P. Neuman, Vassilios D. Tourassis

Research output: Contribution to journalArticlepeer-review

49 Citations (Scopus)


An inherently discrete-time dynamic model is introduced for robotic manipulators. Although robot dynamics are highly coupled and nonlinear, the model is compact and suitable for control engineering applications. The model is designed to guarantee conservation of energy (and momentum, if appropriate) at each sampling instant. Initial numerical experiments with cylindrical robots confirm the feasibility and applicability of the discrete dynamic robot model.

Original languageEnglish
Pages (from-to)193-204
Number of pages12
JournalIEEE Transactions on Systems, Man and Cybernetics
Issue number2
Publication statusPublished - 1985

ASJC Scopus subject areas

  • Engineering(all)


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