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Erschienen in:
1991 | OriginalPaper | Buchkapitel
Symbolic Computation for Robot Design
verfasst von : C. Vibet
Erschienen in: Expert Systems and Robotics
Verlag: Springer Berlin Heidelberg
Enthalten in: Professional Book Archive
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This report presents the basic derivations needed to develop a CAD robot system devoted to automatic analysis and design of controlled mechanisms. The feedback laws required by sophisticated robot controllers are directly derived from the Lagrangian of mechanical systems by means of generating rules. The dynamical model is not explicitly needed in this derivation which only requires partial derivatives and matrix calculus. In addition it is shown how the dynamical model can be computed from the control laws so that dynamics of controlled and uncontrolled mechanisms can be derived in the same framework. Finally, the sampling rate to use in computerized servo-mechanisms is defined from a simple rule.