The centralized formulation for complete dynamic modelling of robots

DOI10.1002/(SICI)1097-4563(200002)17:2%3C119::AID-ROB4%3E3.0.CO;2-OMaRDI QIDQ4486859zbMATH OpenOpenAlexFDO

Authors Q. Shi, Frank L. Lewis, Zexiang Li

Publication date 9 April 2001

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(200002)17:2%3C119::aid-rob4%3E3.0.co;2-o

zbMATH Keywords

centrifugal elementscomposite rigid bodyCoriolis elementsgravity elementsinertial elementsJacobian matrixrobot dynamics

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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Cites work

• A new method of dynamics for robot manipulators
• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• The Development of Equations of Motion of Single-Arm Robots

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