A recursive, numerically stable, and efficient simulation algorithm for serial robots

DOI10.1007/S11044-007-9044-8zbMath1186.70014OpenAlexW2165433399MaRDI QIDQ880994

Subir Kumar Saha, Ashish Mohan

Publication date: 21 May 2007

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

Full work available at URL: https://doi.org/10.1007/s11044-007-9044-8

zbMATH Keywords

decoupled natural orthogonal complement matricesEuler-Lagrange dynamicsPUMA robot

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60)

Related Items (8)

A systematic method for the hybrid dynamic modeling of open kinematic chains confined in a closed environment ⋮ A new perspective towards decomposition of the generalized inertia matrix of multibody systems ⋮ Vehicle-manipulator system dynamic modeling and control for underwater autonomous manipulation ⋮ Reduced-order forward dynamics of multiclosed-loop systems ⋮ Efficient dynamic modeling for rigid multi-body systems with contact and impact. An \(\mathrm{O}(n)\) formulation ⋮ A recursive, numerically stable, and efficient simulation algorithm for serial robots with flexible links ⋮ Motion equation of nonholonomic wheeled mobile robotic manipulator with revolute-prismatic joints using recursive Gibbs-Appell formulation ⋮ Dynamics of serial chain systems using dual algebra

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Multibody system dynamics: roots and perspectives
• Forward dynamics of open-loop multibody mechanisms using an efficient recursive algorithm based on canonical momenta
• Improved `order-\(n\)' performance algorithm for the simulation of constrained multi-rigid-body dynamic systems
• Modular and recursive kinematics and dynamics for parallel manipulators
• Dynamics of Constrained Multibody Systems
• The Formulation of Dynamical Equations of Holonomic Mechanical Systems Using a Natural Orthogonal Complement
• Unified formulation of dynamics for serial rigid multibody systems
• An order n formulation for the motion simulation of general multi-rigid-body constrained systems
• Block-diagonal equations for multibody elastodynamics with geometric stiffness and constraints
• Efficient Dynamic Computer Simulation of Robotic Mechanisms

This page was built for publication: A recursive, numerically stable, and efficient simulation algorithm for serial robots