• DocumentCode
    1205604
  • Title

    Manipulator dynamics using the extended zero reference position description

  • Author

    Kazerounian, K. ; Gupta, K.C.

  • Author_Institution
    University of Connecticut, Storrs, CT, USA
  • Volume
    2
  • Issue
    4
  • fYear
    1986
  • fDate
    12/1/1986 12:00:00 AM
  • Firstpage
    221
  • Lastpage
    224
  • Abstract
    A simplified description of robotic manipulator is in terms of its zero reference position. It requires the specification of the joint axes directions and the coordinates of points locating the joint axes in the base coordinate system. Manipulator dynamics is developed in an extended zero reference position description. The recursive Newton-Euler formulations for the problems of inverse and direct dynamics are presented.
  • Keywords
    Inverse problems; Mechanical factors; Robots; Actuators; Cities and towns; Equations; Iterative methods; Lagrangian functions; Manipulator dynamics; Manufacturing; Mechanical engineering; Robot kinematics; Robotics and automation;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Journal of
  • Publisher
    ieee
  • ISSN
    0882-4967
  • Type

    jour

  • DOI
    10.1109/JRA.1986.1087061
  • Filename
    1087061
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1205604