Abstract
A general approach to derive implicit discrete models of robotic manipulators, starting directly from the action functional, is presented. Such models are obtained by applying numerical discretization techniques to the minimization problem of the Lagrange functional. Although they are in implicit form with some simplifying hypotheses an explicit form can be obtained. The models have been validated by simulation with reference to a three degrees of freedom manipulator. The results are very satisfactory showing a good dynamic behavior specially with respect to the models obtained by discretizing the Lagrange differential equations
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