Mathematical Deficiencies of Numerically Simplified Dynamic Robot Models

Kit Ming W. Tang; Vassilios D. Tourassis

doi:10.1109/9.35289

Mathematical Deficiencies of Numerically Simplified Dynamic Robot Models

Kit Ming W. Tang
, Vassilios D. Tourassis

Electrical Engineering

University of Rochester

Research output: Contribution to journal › Article › peer-review

8 Scopus citations

Abstract

The on-line evaluation of the complete dynamic model in robot control is time-consuming and often dictates the use of simplified robot models in the controller. The impact of the simplifications on the controller performance cannot be easily quantified and experiments often contradict simulation results. The objective of this note is to demonstrate that numerically simplified models can violate fundamental physical principles and destroy the structure of the controller.

Original language	English
Pages (from-to)	1109-1111
Number of pages	3
Journal	IEEE Transactions on Automatic Control
Volume	34
Issue number	10
DOIs	https://doi.org/10.1109/9.35289
State	Published - Oct 1989

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abstract = "The on-line evaluation of the complete dynamic model in robot control is time-consuming and often dictates the use of simplified robot models in the controller. The impact of the simplifications on the controller performance cannot be easily quantified and experiments often contradict simulation results. The objective of this note is to demonstrate that numerically simplified models can violate fundamental physical principles and destroy the structure of the controller.",

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AB - The on-line evaluation of the complete dynamic model in robot control is time-consuming and often dictates the use of simplified robot models in the controller. The impact of the simplifications on the controller performance cannot be easily quantified and experiments often contradict simulation results. The objective of this note is to demonstrate that numerically simplified models can violate fundamental physical principles and destroy the structure of the controller.

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ER -

Mathematical Deficiencies of Numerically Simplified Dynamic Robot Models

Abstract

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