Discrete Dynamic Robot Models

Charles P. Neuman, Vassilios D. Tourassis

Research output: Contribution to journalArticle

45 Citations (Scopus)

Abstract

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
VolumeSMC-15
Issue number2
DOIs
Publication statusPublished - 1985
Externally publishedYes

Fingerprint

Robots
Manipulators
Dynamic models
Conservation
Momentum
Robotics
Sampling
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Discrete Dynamic Robot Models. / Neuman, Charles P.; Tourassis, Vassilios D.

In: IEEE Transactions on Systems, Man and Cybernetics, Vol. SMC-15, No. 2, 1985, p. 193-204.

Research output: Contribution to journalArticle

@article{d7eb586bb6ce4d319823eeee43425bff,
title = "Discrete Dynamic Robot Models",
abstract = "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.",
author = "Neuman, {Charles P.} and Tourassis, {Vassilios D.}",
year = "1985",
doi = "10.1109/TSMC.1985.6313349",
language = "English",
volume = "SMC-15",
pages = "193--204",
journal = "IEEE Transactions on Systems, Man and Cybernetics",
issn = "0018-9472",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "2",

}

TY - JOUR

T1 - Discrete Dynamic Robot Models

AU - Neuman, Charles P.

AU - Tourassis, Vassilios D.

PY - 1985

Y1 - 1985

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0021892429&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0021892429&partnerID=8YFLogxK

U2 - 10.1109/TSMC.1985.6313349

DO - 10.1109/TSMC.1985.6313349

M3 - Article

VL - SMC-15

SP - 193

EP - 204

JO - IEEE Transactions on Systems, Man and Cybernetics

JF - IEEE Transactions on Systems, Man and Cybernetics

SN - 0018-9472

IS - 2

ER -