Dynamic modeling of closed-chain robotic manipulators and implications for trajectory control
โ Scribed by Murray, J.J.; Lovell, G.H.
- Book ID
- 120565444
- Publisher
- IEEE
- Year
- 1989
- Tongue
- English
- Weight
- 701 KB
- Volume
- 5
- Category
- Article
- ISSN
- 1042-296X
- DOI
- 10.1109/70.88066
No coin nor oath required. For personal study only.
๐ SIMILAR VOLUMES
A method for analytical dynamic modeling of six-DOF industrial robotic manipulators of containing closed chain is proposed. It is supposed that non-driving joints of the closed chain are disassembled of which motive relationships are substituted by constrained equations, then an equivalent system wi
This book presents the most recent research results on modeling and control of robot manipulators. * **Chapter 1** gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic paramet