1983 · 40 citations · 2 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot DynamicsRoboticsDynamic ControlManipulator ControlManipulator DynamicsMotion ControlRigid Body KinematicsRobot ManipulatorsArticulated Arm DynamicsDynamics Of Robotic ManipulatorsDynamics Of Serial ManipulatorsGravitational TorquesInertia MatrixManipulator ModelingRobot Manipulator Equations Of MotionSerial Manipulator Dynamics
Symbolic equations defining the effective joint inertias and gravity loading torques for the Unimate PUMA manipulator are derived. These equations define the inertias to within 10% and the gravity torques to within 1%. The equations are very simple and are suitable for on-line computation. They also give insight into the general control problem.
2
Kinematic control equations for simple manipulators
Richard P. Paul, B. Shimano · 1978 · 305 citations
Engineering, Mechanical Engineering, Robotics Engineering +14