Properties and structure of dynamic robot models for control engineering applications

Vassilios D. Tourassis, Charles P. Neuman

Research output: Contribution to journalArticlepeer-review

30 Citations (Scopus)

Abstract

Controller design for robotic manipulators requires a fundamental physical understanding of the properties and structure of dynamic robot models. This paper focuses on the Lagrangian formulation which is attractive from both the dynamic modeling and control engineering points-of-view. Physical and mathematical properties and structural characteristics of the complete dynamic robot model are demonstrated. Implications of the model for control system analysis and design are then indicated. Physical interpretation leads naturally to the decomposition of the model into the positioning arm and end-effector subsystems and motivates the application of decentralized control to robotic manipulators. The authors then propose the application of control the positioning arm and artificial intelligence and intelligent sensors to control the end-effector.

Original languageEnglish
Pages (from-to)27-40
Number of pages14
JournalMechanism and Machine Theory
Volume20
Issue number1
DOIs
Publication statusPublished - 1985

ASJC Scopus subject areas

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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