SIMPLIFIED REAL-TIME COMPUTATION METHOD OF INVERSE DYNAMIC FOR THE ROBOT SYSTEM

In this paper,subject to a relative error criterion,a fast computing method of inverse dynamic for robot system is presented.This method,besed on different rates of changes in inverse dynamic model elements,the relative error criterion is used to determine comptiting period of its various parts,so that decrease the number of operations for inverse dynamic model computation. Finally,a applied example is given for illustration.