A discrete linear state equation approach to the inverse dynamics problem as applied to robotics

Amit Ailon; Helnye Azaria

doi:10.1109/ICCON.1989.770503

A discrete linear state equation approach to the inverse dynamics problem as applied to robotics

Amit Ailon, Helnye Azaria

Department of Electrical & Computer Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

This paper shows that Hollerbach's recursive Lagrangian formulation of manipulator dynamics can be reduced to a compact 'state-space' model. The recursive forward and backward parts in Hollerbach's algorithm are respectively represented by linear homogeneous and non-homogeneous difference equations. The capability of the model regarding software and hardware implementations is considered.

Original language	English
Pages	187-188
Number of pages	2
DOIs	https://doi.org/10.1109/ICCON.1989.770503
State	Published - 1 Jan 1989
Event	1989 IEEE International Conference on Control and Applications, ICCON 1989 - Jerusalem, Israel Duration: 3 Apr 1989 → 6 Apr 1989

Conference

Conference	1989 IEEE International Conference on Control and Applications, ICCON 1989
Country/Territory	Israel
City	Jerusalem
Period	3/04/89 → 6/04/89

ASJC Scopus subject areas

Process Chemistry and Technology
Artificial Intelligence
Control and Systems Engineering
Control and Optimization

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10.1109/ICCON.1989.770503

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title = "A discrete linear state equation approach to the inverse dynamics problem as applied to robotics",

abstract = "This paper shows that Hollerbach's recursive Lagrangian formulation of manipulator dynamics can be reduced to a compact 'state-space' model. The recursive forward and backward parts in Hollerbach's algorithm are respectively represented by linear homogeneous and non-homogeneous difference equations. The capability of the model regarding software and hardware implementations is considered.",

author = "Amit Ailon and Helnye Azaria",

note = "Publisher Copyright: {\textcopyright} ICCON 1989 - IEEE International Conference on Control and Applications, Proceedings.; 1989 IEEE International Conference on Control and Applications, ICCON 1989 ; Conference date: 03-04-1989 Through 06-04-1989",

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N2 - This paper shows that Hollerbach's recursive Lagrangian formulation of manipulator dynamics can be reduced to a compact 'state-space' model. The recursive forward and backward parts in Hollerbach's algorithm are respectively represented by linear homogeneous and non-homogeneous difference equations. The capability of the model regarding software and hardware implementations is considered.

AB - This paper shows that Hollerbach's recursive Lagrangian formulation of manipulator dynamics can be reduced to a compact 'state-space' model. The recursive forward and backward parts in Hollerbach's algorithm are respectively represented by linear homogeneous and non-homogeneous difference equations. The capability of the model regarding software and hardware implementations is considered.

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DO - 10.1109/ICCON.1989.770503

M3 - Paper

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T2 - 1989 IEEE International Conference on Control and Applications, ICCON 1989

Y2 - 3 April 1989 through 6 April 1989

ER -

A discrete linear state equation approach to the inverse dynamics problem as applied to robotics

Abstract

Conference

ASJC Scopus subject areas

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