Discrete-time modeling and control of robotic manipulators

A general approach is presented to derive discrete-time models of robotic manipulators. Such models are obtained by applying numerical discretization techniques directly to the problem of the minimization of the Lagrange action functional. Although these models are in implicit form, they own a dynamic structure that allows us to design discrete-time feedback linearizing control laws. The proposed models and control algorithms are validated by simulation with reference to a three link robot. © 1989 Kluwer Academic Publishers