Robot manipulator dynamics. Towards better computational algorithms

• Type: Article in International Conference Proceedings Book
• Date: 1989

Authors

José Tenreiro Machado (Author) FEUP; Jorge Martins de Carvalho (Author) FEUP; Silva Matos, JA (Author) Other; Costa, AMC (Author) Other

Conference proceedings International

Title: IFAC Proceedings Series

Pages: 69-74

Robot Control 1988 (SYROCO '88) - Selected Papers from the 2nd IFAC Symposium

Karlsruhe, FRG, 5 October 1988 through 7 October 1988

Indexing

Scopus - 0 Citations

Other information

Authenticus ID: P-007-4XG

Abstract (EN): A new robot manipulator inverse dynamics computational algorithm is announced. The novel feature in the computations which are a blend of ordinary and Boolean algebra. As such, this method may also be interpreted as a dedicated compiler that optimizes the on-line computing time at expenses of the off-line stage. Nevertheless, the high off-line requirements are alleviated, through the derivation of some general rules that stem from the structure of the robot manipulator equations. In a practical implementation, a computer program based on a Quine-McCluskey truth table simplification method was used and experimented on a 2R robot manipulator. The results show a considerable computational improvement on a conventional sequential machine.

Language: English

Type (Professor's evaluation): Scientific