Computationally-effective recursive lagrangian formulation of manipulation dynamics

DOI10.1080/00207179108934156zbMath0724.70004OpenAlexW2078277008MaRDI QIDQ3212345

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Publication date: 1991

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179108934156

zbMATH Keywords

robot manipulatorsclosed second-order nonlinear differential equationscomputationally-effective recursive Lagrangian formulation

Mathematics Subject Classification ID

Rods (beams, columns, shafts, arches, rings, etc.) (74K10) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Generalized coordinates; event, impulse-energy, configuration, state, or phase space for problems in mechanics (70G10)

Related Items (1)

An efficient recursive approach for computer generation of manipulator dynamic model

Cites Work

• Kinematic and kinetic analysis of open-chain linkages utilizing Newton- Euler methods
• A New Lagrangian Formulation of Dynamics for Robot Manipulators
• Development of Generalized d'Alembert Equations of Motion for Robot Manipulators
• Efficient Dynamic Computer Simulation of Robotic Mechanisms

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