A Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design

DOI10.1115/1.3140644zbMath0529.70007OpenAlexW2003531964MaRDI QIDQ3311731

Haruhiko Harry Asada

Publication date: 1983

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3140644

zbMATH Keywords

generalized coordinatesdigital computerlink lengthsmanipulator dynamicsnonlinear forcesdistribution of massmultiple bodiesdesign of mechanical armgeneralized moment of inertiageometrical configuration of generalized inertia ellipsoid

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) (n)-body problems (70F10) Dynamics of a rigid body and of multibody systems (70E99)

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