An algorithmic process for the computation of recursive manipulator 'D' matrices

The thesis objective is to establish an algorithmic process for the computation of recursive manipulator 'D' matrices for motion control. This process is involved with the "on-line" estimation of torque values. Since most of the industrial applications are in slow-speed environment, coriolis and centripetal components are ignored in estimating D' values. This process compromises accuracy and compliance.;All torque components are considered in high speed applications with a view to have high accuracy in the estimation of 'D' matrices. Sensitivity analysis is performed to observe the speed factor in the estimation of torques.