A novel formulation for determining joint constraint loads during optimal dynamic motion of redundant manipulators in DH representation

DOI10.1007/s11044-007-9100-4zbMath1161.70007MaRDI QIDQ934765

Joo H. Kim, Karim Abdel-Malek, Jingzhou (James) Yang

Publication date: 30 July 2008

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

Full work available at URL: https://doi.org/10.1007/s11044-007-9100-4

zbMATH Keywords

Lagrange multipliers; differential-algebraic equations; motion planning

Mathematics Subject Classification ID

70-08: Computational methods for problems pertaining to mechanics of particles and systems

70E60: Robot dynamics and control of rigid bodies

70H03: Lagrange's equations

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