An efficient method for inverse dynamics of manipulators based on the virtual work principle

DOI10.1002/rob.4620100505zbMath0778.70006MaRDI QIDQ4203605

Chang-De Zhang, Shin-Min Song

Publication date: 8 September 1993

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620100505

zbMATH Keywords

parallel manipulators; Newton-Euler equation; forward recursive scheme

Mathematics Subject Classification ID

70-08: Computational methods for problems pertaining to mechanics of particles and systems

70E15: Free motion of a rigid body

70B15: Kinematics of mechanisms and robots

Related Items

Inverse dynamics of a 3-PRC parallel kinematic machine, Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work, Matrix modeling of inverse dynamics of spatial and planar parallel robots, Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy, Power requirement comparison in the 3-RPR planar parallel robot dynamics, Dynamics of the spherical 3-\(U\underline{P}S/S\) parallel mechanism with prismatic actuators, Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism, Dynamic analysis of multiple inclined and frictional impact-contacts in multi-branch robotic systems, Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator, Explicit dynamics equations of the constrained robotic systems

Cites Work

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