An algorithm for the inverse dynamics of n-axis general manipulators using Kane's equations

DOI10.1016/0898-1221(89)90054-0MaRDI QIDQ1823747zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 1989

Published in Computers & Mathematics with Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0898-1221(89)90054-0

zbMATH Keywords

inverse dynamics of robotic manipulators of the serial typeinverse-dynamics algorithmKane's dynamical equationsmechanical multibody systemsnumerical solution

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Free motion of a rigid body (70E15) Dynamics of a system of particles, including celestial mechanics (70F99)

Recommendations

• A Generalized Solution to the Inverse Kinematics of Robotic Manipulators
• scientific article; zbMATH DE number 4087090
• scientific article; zbMATH DE number 1004887
• scientific article; zbMATH DE number 3797197
• A survey of efficient computational methods for manipulator inverse dynamics
• Design of inverse kinematics algorithms: extended jacobian approximation of the dynamically consistent Jacobian inverse
• Algebraic methods for computing inverse kinematics
• scientific article; zbMATH DE number 3981065
• scientific article; zbMATH DE number 4114515

Cites work

• Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators
• Dynamics of Nonholonomic Systems
• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• scientific article; zbMATH DE number 3566245 (Why is no real title available?)
• scientific article; zbMATH DE number 3108949 (Why is no real title available?)
• Resolved-acceleration control of mechanical manipulators

Cited in

(9)

• A numerical algorithm for solving manipulator forward dynamics.
• A survey of efficient computational methods for manipulator inverse dynamics
• Dynamics of serial chain systems using dual algebra
• A Kane's based algorithm for closed-form dynamic analysis of a new design of a 3RSS-S spherical parallel manipulator
• scientific article; zbMATH DE number 4087090 (Why is no real title available?)
• Inverse dynamics of redundant manipulators using a minimum number of control forces
• A study of robot inverse kinematics based upon the solution of differential equations
• Multibody model of the human-inspired robot CHARMIE
• Investigation on Kane dynamic equations based on screw theory for open-chain manipulators

Describes a project that uses

Uses Software

• KINVERS

This page was built for publication: An algorithm for the inverse dynamics of n-axis general manipulators using Kane's equations

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1823747)