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

DOI10.1109/TSMC.1987.4309043zbMATH Open0635.70001OpenAlexW2148292699MaRDI QIDQ3775019FDOQ3775019

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

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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)

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

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