A NEW ROBOT MODEL AND ASSOCIATED CONTROL ALGORITHM

摘要

Robot dynamic model is usually written as H(q)q + C(q,q)q + G(q)=τ, where the matrix C can be properly defined so that H --2C is skew-symmetric. Thisproperty greatly facilitates robot controller design. It is believed that such C is uniquely determined. In this paper a new expression for robot the model is derived withthe spatial notation developed in recent years, which shows that the matrix C withabove property is not uniquely defined. Furthermore, the well-known robot adaptivecontrol strategy proposed by Slotine and Li is taken as an example to demonstratethat replaced the traditional model with the new model presented in this paper, amuch more computationally efficient adaptive control algorithm than the existing onecan be obtained.