A recursive, numerically stable, and efficient simulation algorithm for serial robots
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Publication:880994
DOI10.1007/S11044-007-9044-8zbMath1186.70014OpenAlexW2165433399MaRDI QIDQ880994
Subir Kumar Saha, Ashish Mohan
Publication date: 21 May 2007
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11044-007-9044-8
Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60)
Related Items (8)
A systematic method for the hybrid dynamic modeling of open kinematic chains confined in a closed environment ⋮ A new perspective towards decomposition of the generalized inertia matrix of multibody systems ⋮ Vehicle-manipulator system dynamic modeling and control for underwater autonomous manipulation ⋮ Reduced-order forward dynamics of multiclosed-loop systems ⋮ Efficient dynamic modeling for rigid multi-body systems with contact and impact. An \(\mathrm{O}(n)\) formulation ⋮ A recursive, numerically stable, and efficient simulation algorithm for serial robots with flexible links ⋮ Motion equation of nonholonomic wheeled mobile robotic manipulator with revolute-prismatic joints using recursive Gibbs-Appell formulation ⋮ Dynamics of serial chain systems using dual algebra
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