Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics
dc.contributor.author | Hollerbach, John M. | en_US |
dc.contributor.author | Sahar, Gideon | en_US |
dc.date.accessioned | 2004-10-04T14:54:17Z | |
dc.date.available | 2004-10-04T14:54:17Z | |
dc.date.issued | 1983-04-01 | en_US |
dc.identifier.other | AIM-717 | en_US |
dc.identifier.uri | http://hdl.handle.net/1721.1/6387 | |
dc.description.abstract | An efficient algorithm is presented for the calculation of the inverse kinematic accelerations for a 6 degree-of-freedom manipulator with a spherical wrist. The inverse kinematic calculation is shown to work synergistically with the inverse dynamic calculation, producing kinematic parameters needed in the recursive Newton-Euler dynamics formulation. Additional savings in the dynamics computation are noted for a class of kinematically well-structured manipulators such as spherical-wrist arms and for manipulators with simply-structured inertial parameters. | en_US |
dc.format.extent | 3143658 bytes | |
dc.format.extent | 2451018 bytes | |
dc.format.mimetype | application/postscript | |
dc.format.mimetype | application/pdf | |
dc.language.iso | en_US | |
dc.relation.ispartofseries | AIM-717 | en_US |
dc.title | Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics | en_US |