A dynamics formulation of general constrained robots
From the authors' abstract: We propose a systematic approach for deriving the dynamical expression for so-called general constrained robots. This proposed approach has two main features. First, it uses the subsystem dynamics such as the dynamics of joints and rigid links to construct the dynamical expression of the entire robotic system in a closed form. The complexity of the resulting dynamic expression is linearly proportional to the number of degrees of freedom of a robotic system. Second, it extends the standard dynamical form and properties of the conventional single-arm constrained robots to a class of more general robotic systems including the coordinated multiple-arm robotic systems. Three spaces, namely the general joint space, the general task space, and the extended subsystems space, are connected through corresponding velocity/force mapping matrices.
- Explicit dynamics equations of the constrained robotic systems
- Dynamical equations of constrained robotic devices
- scientific article; zbMATH DE number 3982579
- scientific article; zbMATH DE number 700964
- Application of general multibody methods to robotics
- A New Lagrangian Formulation of Dynamics for Robot Manipulators
- Dynamics of rigid-flexible robots and multibody systems
- Control of constrained robots including effects of joint flexibility and actuator dynamics
- A Unified Dynamic Model Formulation for Robotic Manipulator Systems
- A general formulation in rigid multibody dynamics
- Adaptive hybrid control strategies for constrained robots
- An Adaptive Approach to Motion and Force Control of Multiple Coordinated Robots
- Direct adaptive impedance control including transition phases
- Feedback stabilization and tracking of constrained robots
- Motion and force control of multiple robotic manipulators
- Unified formulation of dynamics for serial rigid multibody systems
- Explicit dynamics equations of the constrained robotic systems
- A clear description of system dynamics through the physical parameters and generalized coordinates
- scientific article; zbMATH DE number 1417835 (Why is no real title available?)
- Constrained robot dynamics I: Serial robots with end-effector constraints
- The Admissible Set for a Robotic System with Unilateral Constraint
This page was built for publication: A dynamics formulation of general constrained robots
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q871699)
