An innovative joint-space dynamic theory for rigid multi-axis system. II: canonical dynamic equations

DOI10.1016/J.APM.2022.05.008zbMath1505.70010OpenAlexW4229457366WikidataQ114208636 ScholiaQ114208636MaRDI QIDQ2110044

Yanyan Li

Publication date: 21 December 2022

Published in: Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.apm.2022.05.008

zbMATH Keywords

rigid-bodycanonical dynamic equationjoint-space inertia matrix (JSIM)tree-chain

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Uses Software

• RBDL
• Pinocchio

Cites Work

• Springer Handbook of Robotics
• A New Lagrangian Formulation of Dynamics for Robot Manipulators
• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• Robot Dynamics Algorithms

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