An approach to analytical construction of the equations of motion of robot manipulators

DOI10.1007/BF02111966MaRDI QIDQ1909178zbMATH OpenOpenAlexFDO

Authors Yu. V. Krak

Publication date 18 March 1996

Published in Journal of Mathematical Sciences (New York) (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/bf02111966

zbMATH Keywords

multilevel decompositioninertia matrixLagrange equations of the second kind

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

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Cites work

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(13)

• On asymptotic motions of robot-manipulator in homogeneous space.
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• Triangularization of equations of motion for robotic systems
• Lagrangian dynamics of flexible manipulators using angular velocities instead of transformation matrices
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• Analytical generation of the dynamical equations for mechanical manipulators
• Computational analysis of the Cauchy problem associated to the kinematic model of a mobile robot
• scientific article; zbMATH DE number 2047022 (Why is no real title available?)
• Computer-assisted generation of robot dynamic models in an analytic form
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