A Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity

Hollerbach, John M.

doi:10.1109/tsmc.1980.4308393

Cited by 801 publications

(257 citation statements)

References 15 publications

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“…Many methods can be used to calculate representing the inverse dynamic model of a leg i [18,32,7,21,37], one can use the method with which he is familiar. To reduce the computational cost the recursive Newton-Euler algorithm using base inertial parameters and customized symbolic methods can be used [26,21].…”

Section: R J Smentioning

confidence: 99%

General Solution for the Dynamic Modeling of Parallel Robots

Khalil

Ibrahim

2007

J Intell Robot Syst

118

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Abstract. In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is applied in this paper on two parallel robots with different structures.

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Section: R J Smentioning

confidence: 99%

General Solution for the Dynamic Modeling of Parallel Robots

Khalil

Ibrahim

2007

J Intell Robot Syst

118

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“…However, they are also of engineering interest for the load in joints, bearings and supports, and they are absolutely necessary for the computation of contact and friclion forces. From the 6p coordinates of the constraint force vector ii' there are only (q+r) coordinates linear independent according to (21). Therefore, only the (q+r)xl-vector g of the generalized constraint forces is ne~ed .…”

Section: Equations Of Motionmentioning

confidence: 99%

Simulation Based Design of Automotive Systems

Schiehlen

1993

Concurrent Engineering: Tools and Technologies for Mechanical System Design

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The design of automotive systems using simulation tools features cost reduction and quality enhancement. This paper presents two basic approaches. The rust approach deals with the application of CAD data bases to the evaluation of input data for multibody system formalisms, most adequate for automotive system modeling. An object oriented data model for multibody systems is presented. The second approach covers the development of an integrated simulation tool for automotive vehicles and the corresponding animation facilities. Driving camfon is related to the human perception of mechanical vibration. A companion paper deals with the optimization of automobile parameters using the multi body systems approach.

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“…The special cases where the joints are spherical, revolute and prismatic (sliding pair) are considered after the establishment of the general system model. Although the closed form equations are useful for theoretical investigations, an algorithmic approach to the solution of these equations is preferable [10][11][12][13][14]. This is the main reason for keeping the across variables xc.…”

Section: The Systems Of Rigid Bodiesmentioning

confidence: 99%

Network model approach to the analysis of multirigid-body systems

Tokad

1993

Dynamics and Control

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Abstract. The mathematical model of a rigid body in three dimensional motion developed in [1] is used to formulate the equations of motion for the systems of rigid bodies connected to form a special type of open kinematic chain. In this interconnection pattern of rigid bodies, each rigid body is considered as a 3-port component, and for the sake of generality, initially no constraints are imposed on the joints used to interconnect the rigid bodies. The system is considered as an (m + 1)-port component and the corresponding terminal equations are obtained in closed form. As an appliction of these equations, a three-link plane manipulator is considered.

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A Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity

Cited by 801 publications

References 15 publications

General Solution for the Dynamic Modeling of Parallel Robots

General Solution for the Dynamic Modeling of Parallel Robots

Simulation Based Design of Automotive Systems

Network model approach to the analysis of multirigid-body systems

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