Development of Generalized d'Alembert Equations of Motion for Robot Manipulators

DOI10.1109/TSMC.1987.4309043zbMath0635.70001OpenAlexW2148292699MaRDI QIDQ3775019

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Publication date: 1987

Published in: IEEE Transactions on Systems, Man, and Cybernetics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tsmc.1987.4309043

zbMATH Keywords

d'Alembert equationsvector-matrix formrotational effects of the linksthree-link puma robot armunconstrained manipulators

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Lagrange's equations (70H03)

Related Items (1)

Computationally-effective recursive lagrangian formulation of manipulation dynamics

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