Title :
Comments on "Computation of input generalized forces for robots with closed kinematic chain mechanism" [with reply]
Author :
Lin, Sheng-Kai ; Luh, J.Y.S.
Author_Institution :
Inst. of Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
fDate :
4/1/1990 12:00:00 AM
Abstract :
The commenter points out that two sets of equations in the above-titled paper by Luh et al. (see ibid., vol.RA-1, no.2, p.95-103, June (1985)) are confusing as they give different solutions for the second time-derivative of q/sup 0/. Luh points out that one of the equations does not include the constraints included in the other, as one is for an open-chain and the other for a closed-chain mechanism.<>
Keywords :
kinematics; robots; closed kinematic chain mechanism; input force; robots; time-derivative; Actuators; Control engineering; Equations; Kinematics; Lagrangian functions; Robotics and automation; Robots; Tree data structures;
Journal_Title :
Robotics and Automation, IEEE Transactions on
