Multibody model of the human-inspired robot CHARMIE

DOI10.1007/S11044-023-09933-5MaRDI QIDQ6497470zbMATH OpenFDO

Authors Fernando M. Gonçalves, Tiago G. Ribeiro, Paulo Flores

Publication date 6 May 2024

Published in Multibody System Dynamics (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1007/S11044-023-09933-5

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55)

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Cites work

• A novel formulation for determining joint constraint loads during optimal dynamic motion of redundant manipulators in DH representation
• An algorithm for the inverse dynamics of n-axis general manipulators using Kane's equations
• An efficient method for inverse dynamics of manipulators based on the virtual work principle
• An enhanced inverse dynamic and joint force analysis of multibody systems using constraint matrices
• Extension of the divide-and-conquer algorithm for the efficient inverse dynamics analysis of multibody systems
• FPGA acceleration of planar multibody dynamics simulations in the Hamiltonian-based divide-and-conquer framework
• Generalized Lagrange's equations for systems with general constraints and distributed parameters
• Perspectives on Euler angle singularities, gimbal lock, and the orthogonality of applied forces and applied moments
• Robot and multibody dynamics. Analysis and algorithms.
• Robot Dynamics Algorithms
• Screw and Lie group theory in multibody dynamics
• Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems
• The numerical influence of additional parameters of inertia representations for quaternion-based rigid body dynamics
• The weighted Moore-Penrose generalized inverse and the force analysis of overconstrained parallel mechanisms

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