Development of Generalized d'Alembert Equations of Motion for Robot Manipulators

DOI10.1109/TSMC.1987.4309043MaRDI QIDQ3775019zbMATH OpenOpenAlexFDO

Authors

Publication date 1987

Published in IEEE Transactions on Systems, Man, and Cybernetics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tsmc.1987.4309043

zbMATH Keywords

d'Alembert equationsvector-matrix formrotational effects of the linksthree-link puma robot armunconstrained manipulators

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Lagrange's equations (70H03)

Recommendations

• An addendum to the generalized d'Alembert equations of motion
• scientific article; zbMATH DE number 700964
• An approach to analytical construction of the equations of motion of robot manipulators
• scientific article; zbMATH DE number 3982579
• A method of deriving the dynamic equations of robotic manipulators in numerical-analytic form

Cited in

(4)

• Computationally-effective recursive lagrangian formulation of manipulation dynamics
• On using generalized velocity components for manipulator dynamics and control
• Generalized dynamic model for multibody manipulator
• An approach to analytical construction of the equations of motion of robot manipulators

This page was built for publication: Development of Generalized d'Alembert Equations of Motion for Robot Manipulators

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q3775019)