Title :
Manipulator dynamics using the extended zero reference position description
Author :
Kazerounian, K. ; Gupta, K.C.
Author_Institution :
University of Connecticut, Storrs, CT, USA
fDate :
12/1/1986 12:00:00 AM
Abstract :
A simplified description of robotic manipulator is in terms of its zero reference position. It requires the specification of the joint axes directions and the coordinates of points locating the joint axes in the base coordinate system. Manipulator dynamics is developed in an extended zero reference position description. The recursive Newton-Euler formulations for the problems of inverse and direct dynamics are presented.
Keywords :
Inverse problems; Mechanical factors; Robots; Actuators; Cities and towns; Equations; Iterative methods; Lagrangian functions; Manipulator dynamics; Manufacturing; Mechanical engineering; Robot kinematics; Robotics and automation;
Journal_Title :
Robotics and Automation, IEEE Journal of
DOI :
10.1109/JRA.1986.1087061
