A survey of equations of motion in terms of inertial quasi-velocities for serial manipulators

DOI10.1007/S00419-006-0021-0zbMATH Open1168.70307OpenAlexW2028788942MaRDI QIDQ835368FDOQ835368

Authors: Przemysław Herman, Krzysztof Kozłowski 

Publication date: 28 August 2009

Published in: Archive of Applied Mechanics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00419-006-0021-0

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zbMATH Keywords

quasi-velocitiesrobot dynamicsserial manipulatorsdecoupled equation of motion

Mathematics Subject Classification ID

Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) Robot dynamics and control of rigid bodies (70E60)

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Cited In (8)

• Constrained Lagrangian dynamics based on reduced quasi-velocities and quasi-forces
• On using generalized velocity components for manipulator dynamics and control
• On the uniform boundedness of the inertia matrix of serial robot manipulators
• Multibody graph transformations and analysis. I: Tree topology systems
• Inverse dynamics control in terms of unnormalized quasi-velocities
• Graph theoretic foundations of multibody dynamics. I: Structural properties
• Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction
• Title not available (Why is that?)

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