Mathematical Deficiencies of Numerically Simplified Dynamic Robot Models

Kit Ming W. Tang; Vassilios D. Tourassis

doi:10.1109/9.35289

Mathematical Deficiencies of Numerically Simplified Dynamic Robot Models

Kit Ming W. Tang, Vassilios D. Tourassis

Research output: Contribution to journal › Article › peer-review

6 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	1109-1111
Number of pages	3
Journal	IEEE Transactions on Automatic Control
Volume	34
Issue number	10
DOIs	https://doi.org/10.1109/9.35289
Publication status	Published - Oct 1989
Externally published	Yes

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/9.35289

Cite this

@article{d3e1a1eaf95740efbe27d2acc8abeab4,

title = "Mathematical Deficiencies of Numerically Simplified Dynamic Robot Models",

abstract = "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.",

author = "Tang, {Kit Ming W.} and Tourassis, {Vassilios D.}",

year = "1989",

month = oct,

doi = "10.1109/9.35289",

language = "English",

volume = "34",

pages = "1109--1111",

journal = "IEEE Transactions on Automatic Control",

issn = "0018-9286",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "10",

}

TY - JOUR

T1 - Mathematical Deficiencies of Numerically Simplified Dynamic Robot Models

AU - Tang, Kit Ming W.

AU - Tourassis, Vassilios D.

PY - 1989/10

Y1 - 1989/10

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0024751707&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0024751707&partnerID=8YFLogxK

U2 - 10.1109/9.35289

DO - 10.1109/9.35289

M3 - Article

AN - SCOPUS:0024751707

SN - 0018-9286

VL - 34

SP - 1109

EP - 1111

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 10

ER -

Mathematical Deficiencies of Numerically Simplified Dynamic Robot Models

Abstract

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this