Constrained robot dynamics I: Serial robots with end-effector constraints

DOI10.1002/(SICI)1097-4563(199909)16:9%3C471::AID-ROB1%3E3.0.CO;2-CMaRDI QIDQ4944746zbMATH OpenOpenAlexFDO

Authors J. M. Selig, P. R. McAree

Publication date 4 March 2001

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199909)16:9%3C471::aid-rob1%3E3.0.co;2-c

zbMATH Keywords

rigid-body dynamicsStewart platformkinematic chainsplanar four-bar mechanismserial robotsend-effectors3-joint robotbipedal walking machinesparallel linkagestime-invariant holonomic constraints

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Holonomic systems related to the dynamics of a system of particles (70F20)

Recommendations

• A dynamics formulation of general constrained robots
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Cites work

• scientific article; zbMATH DE number 867234 (Why is no real title available?)
• Elementary differential geometry

Cited in

(8)

• Equimomental systems and robot dynamics
• A novel parallel recursive dynamics modeling method for robot with flexible bar-groups
• Explicit dynamics equations of the constrained robotic systems
• Manipulability and static stability of parallel manipulators
• Dynamical equations of constrained robotic devices
• On the dynamics and Lyapunov stability of constrained and embedded rigid bodies
• A constrained assumed modes method for dynamics of a flexible planar serial robot with prismatic joints
• Dynamics of parallel robots. From rigid bodies to flexible elements

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