An innovative joint-space dynamic theory for rigid multi-axis system. II: canonical dynamic equations

DOI10.1016/J.APM.2022.05.008MaRDI QIDQ2110044zbMATH OpenOpenAlexWikidataFDO

Authors Yanyan Li

Publication date 21 December 2022

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.apm.2022.05.008

zbMATH Keywords

rigid-bodycanonical dynamic equationjoint-space inertia matrix (JSIM)tree-chain

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cites work

• A New Lagrangian Formulation of Dynamics for Robot Manipulators
• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• Robot Dynamics Algorithms
• Springer handbook of robotics

Describes a project that uses

Uses Software

• RBDL
• Pinocchio

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