An algorithm for the inverse dynamics of n-axis general manipulators using Kane's equations

DOI10.1016/0898-1221(89)90054-0zbMath0681.70005OpenAlexW2033227234MaRDI QIDQ1823747

Yanyan Li

Publication date: 1989

Published in: Computers \& Mathematics with Applications (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0898-1221(89)90054-0

zbMATH Keywords

numerical solutionmechanical multibody systemsinverse dynamics of robotic manipulators of the serial typeinverse-dynamics algorithmKane's dynamical equations

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Free motion of a rigid body (70E15) Kinematics of mechanisms and robots (70B15) Dynamics of a system of particles, including celestial mechanics (70F99)

Related Items (3)

A survey of efficient computational methods for manipulator inverse dynamics ⋮ A Kane's based algorithm for closed-form dynamic analysis of a new design of a 3RSS-S spherical parallel manipulator ⋮ Dynamics of serial chain systems using dual algebra

Uses Software

• KINVERS

Cites Work

• Dynamics of Nonholonomic Systems
• Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators
• Resolved-acceleration control of mechanical manipulators
• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• Unnamed Item
• Unnamed Item

This page was built for publication: An algorithm for the inverse dynamics of n-axis general manipulators using Kane's equations