Dynamic Analysis for Robot Arm Control

@article{Bejczy1983DynamicAF,
  title={Dynamic Analysis for Robot Arm Control},
  author={Antal K. Bejczy},
  journal={1983 American Control Conference},
  year={1983},
  pages={503-504}
}
Explicit state equations provide detailed analytic insight into the dynamic behavior of a robot arm and facilitate the understanding of the control problem. The analytic strength of explicit state equations is exemplified for a given robot arm. In fact, for the quoted example, the explicit and exact state equations involve considerably less computation than the use of the known most efficient general-purpose computational algorithm for robot arm dynamics.