Discrete dynamic robot models

DOI10.1109/TSMC.1985.6313349zbMath0603.93035OpenAlexW1968892573MaRDI QIDQ3741521

V. D. Tourassis, Charles P. Neuman

Publication date: 1985

Published in: IEEE Transactions on Systems, Man, and Cybernetics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tsmc.1985.6313349

zbMATH Keywords

robotic manipulatorsdiscrete-time dynamic model

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Discrete-time control/observation systems (93C55) Sampled-data control/observation systems (93C57) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (11)

Stable robot manipulator parameter identification: a closed-loop input error approach ⋮ Direct digital design of computed torque controllers ⋮ A discrete-time adaptive control scheme for robot manipulators ⋮ Feedback control of robot Arm with discrete nonlinear model ⋮ Discrete Lagrange equations ⋮ Discrete optimal control for robot manipulators ⋮ Model-free discrete control for robot manipulators using a fuzzy estimator ⋮ A Discrete calculus of variations algorithm ⋮ An inverse dynamic-based dynamic programming method for optimal point-to-point trajectory planning of robotic manipulators ⋮ Symplectic discrete-time energy-based control for nonlinear mechanical systems ⋮ Repetitive control of electrically driven robot manipulators

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