An efficient method for inverse dynamics of manipulators based on the virtual work principle

DOI10.1002/rob.4620100505zbMath0778.70006OpenAlexW2165096105MaRDI QIDQ4203605

Chang-De Zhang, Shin-Min Song

Publication date: 8 September 1993

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620100505

zbMATH Keywords

parallel manipulatorsNewton-Euler equationforward recursive scheme

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)

Related Items (10)

Explicit dynamics equations of the constrained robotic systems ⋮ Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work ⋮ Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism ⋮ Inverse dynamics of a 3-PRC parallel kinematic machine ⋮ Matrix modeling of inverse dynamics of spatial and planar parallel robots ⋮ Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator ⋮ Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy ⋮ Power requirement comparison in the 3-RPR planar parallel robot dynamics ⋮ Dynamic analysis of multiple inclined and frictional impact-contacts in multi-branch robotic systems ⋮ Dynamics of the spherical 3-\(U\underline{P}S/S\) parallel mechanism with prismatic actuators

Cites Work

• Unnamed Item
• Unnamed Item
• On the equivalence of Kane's equations and Gibbs' equations for multibody dynamics formulations
• Kinematic and kinetic analysis of open-chain linkages utilizing Newton- Euler methods
• A comparative study of inverse dynamics of manipulators with closed-chain geometry
• Dynamics of Nonholonomic Systems
• A computationally efficient method for manipulator dynamic analysis
• Efficient Dynamic Computer Simulation of Robotic Mechanisms

This page was built for publication: An efficient method for inverse dynamics of manipulators based on the virtual work principle