The centralized formulation for complete dynamic modelling of robots
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Publication:4486859
DOI<119::AID-ROB4>3.0.CO;2-O 10.1002/(SICI)1097-4563(200002)17:2<119::AID-ROB4>3.0.CO;2-OzbMath0958.70006OpenAlexW1988967725MaRDI QIDQ4486859
Q. Shi, Frank L. Lewis, Zexiang Li
Publication date: 9 April 2001
Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(200002)17:2<119::aid-rob4>3.0.co;2-o
robot dynamicsJacobian matrixinertial elementscentrifugal elementscomposite rigid bodyCoriolis elementsgravity elements
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