The Development of Equations of Motion of Single-Arm Robots

DOI10.1109/TSMC.1982.4308815MaRDI QIDQ4743782zbMATH OpenOpenAlexFDO

Authors Frederick A. Kelly, Ronald L. Huston

Publication date 1982

Published in IEEE Transactions on Systems, Man, and Cybernetics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tsmc.1982.4308815

zbMATH Keywords

equations of motionEuler parametersJacobian matricesJourdain's principleKane's dynamical equationsquaternionsrelative angular velocitiessystems with tree structure

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Holonomic systems related to the dynamics of a system of particles (70F20)

Cited in

(3)

• A survey of efficient computational methods for manipulator inverse dynamics
• Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations
• The centralized formulation for complete dynamic modelling of robots

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