A New Lagrangian Formulation of Dynamics for Robot Manipulators

DOI10.1115/1.3153092MaRDI QIDQ3482839zbMATH OpenOpenAlexFDO

Authors Chang-Jin Li

Publication date 1989

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3153092

zbMATH Keywords

control systemLagrangian dynamicsjoint generalized forces/torquesLagrangian formulation of dynamics for robot manipulatorsmini- computer

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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• An innovative joint-space dynamic theory for rigid multi-axis system. II: canonical dynamic equations
• Computationally-effective recursive lagrangian formulation of manipulation dynamics
• The variable-inertia modified computed-torque control of robot manipulators
• New form of the Euler-Bernoulli rod equation applied to robotic systems
• scientific article; zbMATH DE number 3982579 (Why is no real title available?)
• On the Application of Lagrange's Method to the Description of Dynamic Systems
• A comparative study of recursive methods
• Recursive linearizing and decoupling control of robots
• A systematic method of dynamics for flexible robot manipulators
• A dynamics formulation of general constrained robots
• Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism
• Identifiability of Lagrangian Systems With Application to Robot Manipulators

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