A Unified Dynamic Model Formulation for Robotic Manipulator Systems

DOI10.1002/ROB.10111MaRDI QIDQ4452444zbMATH OpenOpenAlexFDO

Authors Anjan Kumar Swain, Alan S. Morris

Publication date 12 February 2004

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

Full work available at URL https://doi.org/10.1002/rob.10111

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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(8)

• Geometric structures for the parameterization of non-interacting dynamics for multi-body mechanisms
• scientific article; zbMATH DE number 3980578 (Why is no real title available?)
• Linearized dynamic models of robot manipulators in cartesian space
• The significance of adopted Lagrange's principle of virtual work used for modeling aerial robots
• Dynamic modeling of tree-type robotic systems by combining $3\times 3$ rotation and $4\times 4$ transformation matrices
• Modelling of closed-chain manipulators on an excavator vehicle
• A dynamics formulation of general constrained robots
• A new method for linearization of dynamic robot models

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