The on-line evaluation of the complete dynamic model in robot control is time-consuming and often dictates the use of simplified robot models in the controller. The impact of the simplifications on the controller performance cannot be easily quantified and experiments often contradict simulation results. The objective of this note is to demonstrate that numerically simplified models can violate fundamental physical principles and destroy the structure of the controller.
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering