Inverse Dynamics Applications of Discrete Robot Models

Vassilios D. Tourassis, Charles P. Neuman

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


We highlight inverse dynamics applications of our recently introduced discrete-time dynamic robot model. Our discrete model is designed to guarantee conservation of energy (and momentum, if appropriate) over each sampling period, is accelerometer-free, and can reduce the computational time requirements of the real-time controller. Simulation experiments with three degree-of-freedom cylindrical and articulated robots confirm the efficacy of our approach for inverse dynamics and trajectory planning applications.

Original languageEnglish
Pages (from-to)798-803
Number of pages6
JournalIEEE Transactions on Systems, Man and Cybernetics
Issue number6
Publication statusPublished - 1985

ASJC Scopus subject areas

  • Engineering(all)


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