The properties and structural characteristics of the Lagrange-Euler dynamic robot model are reviewed from the control engineering point-of-view. The physical interpretation of the coordinate-dependent coefficients in the model motivates integrating the mechanical and controller designs of robotic manipulators. Within this framework, the significance of prototype robots emerges naturally, and practical research problems in robot control engineering are outlined.
|Number of pages||4|
|Publication status||Published - Dec 1 1984|
ASJC Scopus subject areas
- Electronic, Optical and Magnetic Materials
- Electrical and Electronic Engineering