Inverse dynamics applications of discrete robot models

Abstract

The authors highlight inverse dynamics applications of their recently introduced discrete-time dynamic robot model. The model is designed to guarantee conservation of energy (and momentum, if appropriate) over each sampling period, is accelerometer-free, and can reduce the computational time requirements of the real-time controller. Simulation experiments with three-degree-of-freedom cylindrical and articulated robots confirm the efficacy of the approach for inverse dynamics and trajectory planning applications.