DocumentCode
2538509
Title
An alternative method for minimization of the driving forces in redundant manipulators
Author
Kazerounian, K. ; Nedungadi, A.
Author_Institution
The University of Connecticut, Storrs, CT
Volume
4
fYear
1987
fDate
31837
Firstpage
1701
Lastpage
1706
Abstract
A discretized equation allows the acceleration terms to be changed to velocity terms in the definition of joint driving forces in robotic manipulators. An eleven degrees of freedom, three dimensional robotic manipulator is used in a numerical example to test the developed algorithm. Numerical and algorithmic stabilities are also discussed.
Keywords
Acceleration; Actuators; Energy resolution; Equations; Jacobian matrices; Kinetic energy; Manipulator dynamics; Mechanical engineering; Minimization methods; Orbital robotics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1087807
Filename
1087807
Link To Document