Name
Abstract | ||
|---|---|---|
Orthogonal second-order Cartesian tensors are used to formulated the Newton-Euler dynamic equations for a robot manipulator. Based on this formulation, an efficient recursive procedure is developed to evaluate the joint torques. The procedure is applicable to all rigid-link manipulators with open-chain kinematic structures with revolute and/or prismatic joints. For simplicity of presentation, only manipulators with (kinematically more complex) revolute joints are considered. An efficient implementation of the proposed method shows that the joint torques for a six-degree-of-freedom manipulator with revolute joint, can be computed in approximately 500 multiplications and 420 additions. For manipulators with 0° or 90° twist angles, the required computations are reduced to 380 multiplications and 315 additions |
Year | DOI | Venue |
|---|---|---|
1988 | 10.1109/ROBOT.1988.12255 | ICRA |
Keywords | Field | DocType |
dynamics,kinematics,robots,cartesian tensor,newton-euler dynamic equations,manipulator dynamics,open-chain kinematic structures,rigid-link manipulators,robot manipulator,computational complexity,tensile stress,degree of freedom,acceleration,second order | Parallel manipulator,Kinematics equations,Kinematics,Torque,Control theory,Robot kinematics,Cartesian tensor,Control engineering,Revolute joint,Mathematics,Computation | Conference |
Volume | Issue | Citations |
1988 | 1 | 4 |
PageRank | References | Authors |
2.02 | 3 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| C. A. Balafoutis | 1 | 46 | 10.06 |
| Pradeep Misra | 2 | 149 | 20.90 |
| R. V. Patel | 3 | 70 | 10.54 |