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

numerical solutionmechanical multibody systemsinverse dynamics of robotic manipulators of the serial typeinverse-dynamics algorithmKane's dynamical equations

Mathematics Subject Classification ID

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

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Cites work

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

Cited in

(8)

• 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
• A survey of efficient computational methods for manipulator inverse dynamics
• A study of robot inverse kinematics based upon the solution of differential equations
• scientific article; zbMATH DE number 4087090 (Why is no real title available?)
• Multibody model of the human-inspired robot CHARMIE
• Inverse dynamics of redundant manipulators using a minimum number of control forces
• Investigation on Kane dynamic equations based on screw theory for open-chain manipulators

Describes a project that uses

Uses Software

• KINVERS

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