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- W2620486534 abstract "Abstract This paper considers software design, the choice of algorithms and implementation characteristics in a robot system to solve the dynamic model and evaluate and develop tools to implement control algorithms. OMT methodology has been used to design the software because it permits several levels of abstractions. Lagrange-Euler formulation has been chosen and has been reformulated to adapt it to the control algorithms. Finally in the implementation aspects the objective has been to reduce computing time using parallel algorithms and analysing the properties of the equations eliminating the null terms. This study has been facilitated by the different levels of abstraction defined. All these aspects have been used to solve the identification of the inertial parameters for a Puma robot by energy equation and adaptive control algorithms." @default.
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- W2620486534 date "2000-09-01" @default.
- W2620486534 modified "2023-09-26" @default.
- W2620486534 title "A Data and Software Model for Robot Manipulator Control" @default.
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- W2620486534 doi "https://doi.org/10.1016/s1474-6670(17)36891-x" @default.
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