Title :
Corrections to “Singularity-Free Dynamic Equations of Open-Chain Mechanisms With General Holonomic and Nonholonomic Joints”
Author :
From, Pal J. ; Duindam, V. ; Stramigioli, Stefano
Author_Institution :
Dept. of Math. Sci. & Technol., Norwegian Univ. of Life Sci., As, Norway
Abstract :
This is a correction to [Duindam and Stramigioli, “Singularity-free dynamic equations of open-chain mechanisms with general holonomic and nonholonomic joints,” IEEE Trans. Robot., vol. 24, no. 3, pp. 527-526, Jun. 2008] where the singularity-free dynamic equations of mechanical systems with Euclidean or non-Euclidean configuration spaces are presented. We present the correct explicit expressions of the equations presented in the above referenced paper.
Keywords :
robot dynamics; ganeral holonomic joints; general nonholonomic joints; nonEuclidean configuration space; open-chain mechanism; singularity-free dynamic equation; Boltzmann equations; Differential equations; Dynamics; Mathematical model; Mechanical systems; Robot control; Robot kinematics; Lagrangian mechanics; lie groups; robot dynamics;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2012.2206853
