Title :
Wrist-partitioned inverse kinematic accelerations and manipulator dynamics
Author :
Hollerbach, John M. ; Sahar, Gideon
Author_Institution :
M.I.T., Cambridge, Mass.
Abstract :
An efficient algorithm is presented for the calculation of the inverse kinematic accelerations for a 6 degree-of-freedom manipulator with a spherical wrist. The inverse kinematic calculation is shown to work synergistically with the inverse dynamic calculation, producing kinematic parameters needed in the recursive Newton-Euler dynamics formulation. Additional savings in the dynamics computation are noted for a class of kinematically well-structured manipulators such as spherical-wrist arms and for manipulators with simply-structured inertial parameters.
Keywords :
Acceleration; Arm; Artificial intelligence; Automatic control; Humans; Kinematics; Laboratories; Manipulator dynamics; Motion control; Wrist;
Conference_Titel :
Robotics and Automation. Proceedings. 1984 IEEE International Conference on
DOI :
10.1109/ROBOT.1984.1087172