A comparative study of inverse dynamics of manipulators with closed-chain geometry

DOI10.1002/ROB.4620070402MaRDI QIDQ3197369zbMATH OpenOpenAlexFDO

Authors Yueh-Jaw Lin, Shin-Min Song

Publication date 1990

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620070402

zbMATH Keywords

closed-chain manipulatorsfive-bar manipulatorinverse kinematics computation of pantograph manipulatorsopen-chain manipulatorspantograph manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cites work

• A computationally efficient method for manipulator dynamic analysis
• Kinematic and kinetic analysis of open-chain linkages utilizing Newton- Euler methods

Cited in

(4)

• An efficient method for inverse dynamics of manipulators based on the virtual work principle
• NUMERICAL INTEGRATION EFFECTIVENESS IN INVERSE DYNAMICS COMPUTATION OF MANIPULATOR SYSTEMS
• A closed-form formulation for the inverse dynamics of a Cassino parallel manipulator
• Investigation on Kane dynamic equations based on screw theory for open-chain manipulators

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