2005 · 10 citations · 8 references
EngineeringMechanical EngineeringRobotics EngineeringOptimizationRobot KinematicsRoboticsDifferential KinematicsManipulator DynamicsMultibody DynamicsRedundancy ResolutionRobot ManipulatorsDynamics Of Redundant ManipulatorsDynamics Of Robotic ManipulatorsManipulator ModelingRedundant Manipulator ControlRedundant Manipulator DynamicsRedundant Manipulator KinematicsSerial ManipulatorsVelocity
A discretized equation allows the acceleration terms to be changed to velocity terms in the definition of joint driving forces in robotic manipulators. An eleven degrees of freedom, three dimensional robotic manipulator is used in a numerical example to test the developed algorithm. Numerical and algorithmic stabilities are also discussed.
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