NUMERICAL INTEGRATION EFFECTIVENESS IN INVERSE DYNAMICS COMPUTATION OF MANIPULATOR SYSTEMS

DOI10.1080/01969729308961715zbMath0783.70002OpenAlexW1981296109MaRDI QIDQ4275311

Tian-Soon Lee, Yueh-Jaw Lin

Publication date: 20 March 1994

Published in: Cybernetics and Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/01969729308961715

zbMATH Keywords

Runge-Kutta methodEuler methodAdams-Bashforth methodHamming's methodtwo-link open-chain manipulator

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Numerical methods for initial value problems involving ordinary differential equations (65L05) Finite difference and finite volume methods for ordinary differential equations (65L12)

Cites Work

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• Kinematic and kinetic analysis of open-chain linkages utilizing Newton- Euler methods
• A comparative study of inverse dynamics of manipulators with closed-chain geometry
• A study of robot inverse kinematics based upon the solution of differential equations

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