On the Complexity Analysis of the Coriolis and Centripetal Effects of a 6 DOF Robot Manipulator
作者： A.Y. Zomaya , A.S. Morris
DOI:
关键词: Torque 、 Differential (infinitesimal) 、 Lower order 、 Control engineering 、 Centripetal force 、 Mathematics 、 Computational complexity theory 、 Lagrangian 、 Robotic arm 、 Control theory 、 Robot manipulator
摘要: The equations used in calculating the different forces and torques which control movement of a robot manipulator involve considerable amount differential non-linear terms possess high computational complexity. Centripetal Coriolis effects are great importance when is moving at speeds. previous effects, based on Lagrangian formulation, have been simplified lower order form produced has reduced Simulation results for arm obtained to check validity derivation.
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