Abstract
In this paper, the principal underlying equations and a method for real-time code generation are discussed to obtain fast inverse dynamic models of robot structures for the so-called computed torque control. This sophisticated trajectory control algorithm linearizes the highly non-linear dynamic properties of the underlying plant to increase the path tracking precision. To fit the calculations into the general small time slot of real-time control algorithms, special care is needed in the code generation phase. The application to the Triglide robot structure is finally presented.
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Rose, M. (2010). Automated Generation of Efficient Real-Time Code for Inverse Dynamic Parallel Robot Models. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_3
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DOI: https://doi.org/10.1007/978-3-642-16785-0_3
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