DocumentCode
489048
Title
Spatial Operator Approach to Under-Actuated Manipulator Kinematics and Dynamics
Author
Jan, Atif ; Rodriguez, G.
Author_Institution
Jet Propulsion Laboratory/California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109
fYear
1991
fDate
26-28 June 1991
Firstpage
2045
Lastpage
2050
Abstract
This paper studies the kinematics and dynamics of underactuated manipulators. The presence of passive hinges causes the kinematics and dynamics of these manipulators to be considerably more complex when compared with fully-actuated manipulators. Techniques from the spatial operator algebra are used to develop expressions for the generalized Jacobian, the mass matrix and an efficient inverse dynamics computational algorithm.
Keywords
Cost function; Design methodology; Jacobian matrices; Kinematics; Manipulator dynamics; Mesons; Robots; Shape; Sun; Tellurium;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1991
Conference_Location
Boston, MA, USA
Print_ISBN
0-87942-565-2
Type
conf
Filename
4791756
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