An algorithm for efficient computation of dynamics of robotic manipulators

DOI10.1002/ROB.4620070503MaRDI QIDQ3358292zbMATH OpenOpenAlexFDO

Authors Xiaogeng He, Andrew A. Goldenberg

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.4620070503

zbMATH Keywords

Newton-Euler formalismopen-loop kinematic chainsprismatic jointsreal-time controlrecursive algorithmrigid-link manipulatorrobot manipulators

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Dynamics of a rigid body and of multibody systems (70E99) Control of mechanical systems (70Q05)

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Cites work

• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• scientific article; zbMATH DE number 3566245 (Why is no real title available?)

Cited in

(21)

• Recursive linearizing and decoupling control of robots
• A survey of efficient computational methods for manipulator inverse dynamics
• Serial-robot dynamics algorithms for moderately large numbers of joints
• Study of a distributed control architecture for a quadruped robot
• An efficient algorithm for computation of manipulator inertia matrix
• Computationally-effective recursive lagrangian formulation of manipulation dynamics
• scientific article; zbMATH DE number 3850933 (Why is no real title available?)
• An approximation algorithm ford₁-optimal motion of a rod robot with fixed rotations
• The actuation efficiency, a measure of acceleration capability for nonredundant robotic manipulators
• On the computational aspect of the matrix exponentials and their use in robot kinematics
• scientific article; zbMATH DE number 3980578 (Why is no real title available?)
• scientific article; zbMATH DE number 4068370 (Why is no real title available?)
• scientific article; zbMATH DE number 4087090 (Why is no real title available?)
• A simple and efficient computational approach for the forward dynamics of elastic robots
• scientific article; zbMATH DE number 58765 (Why is no real title available?)
• NUMERICAL INTEGRATION EFFECTIVENESS IN INVERSE DYNAMICS COMPUTATION OF MANIPULATOR SYSTEMS
• Efficient robot arm modeling for computer control
• scientific article; zbMATH DE number 1049499 (Why is no real title available?)
• Automated Deduction in Geometry
• Analytical differentiation of the articulated-body algorithm: a geometric multilinear approach
• A recursive, numerically stable, and efficient simulation algorithm for serial robots

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