A recursive, numerically stable, and efficient simulation algorithm for serial robots
type: Item
instance of: scholarly article
title: A recursive, numerically stable, and efficient simulation algorithm for serial robots
zbMATH Open document ID: 1186.70014
author: Ashish Mohan
author: Subir Kumar Saha
published in: Multibody System Dynamics
publication date: 2007-05-21T00:00:00Z
review text: The authors develop governing dynamical equations for a serial robot with rigid links. The key features of the development are: 1) the use of Euler-Lagrange formulation, and 2) the use of decoupled natural orthogonal complement matrices. The claim is that the development is recursive, efficient, and numerically stable. The dynamic analysis of a six-degree-of-freedom PUMA robot serves as an illustrative example. The paper is potentially useful to engineers interested in algorithm development for robot dynamics and control.
Mathematics Subject Classification ID: 70E60
Mathematics Subject Classification ID: 70-08
zbMATH DE Number: 5155281
zbMATH Keywords: Euler-Lagrange dynamics
zbMATH Keywords: decoupled natural orthogonal complement matrices
zbMATH Keywords: PUMA robot
reviewed by: Ronald L. Huston
MaRDI profile type: Publication
full work available at URL: s11044-007-9044-8
OpenAlex ID: W2165433399
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DOI: 10.1007/S11044-007-9044-8
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description: scientific article; zbMATH DE number 5155281