A generalised approach for the modelling of articulated open chain planar linkages

Robotica

Volumn 15, Issue 5, 1997, Pages 523-531

  Baysec, Sedat ^a   Jones, John Rees ^b  

^a GAZIANTEP UNIVERSITY   (Turkey)

^b UNILEVER RESEARCH   (United Kingdom)

Author keywords

Articulated linkages; Equations of motion; Robot dynamics

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; FORCE CONTROL; LAGRANGE MULTIPLIERS; MACHINE DESIGN; MATHEMATICAL MODELS; MECHANISMS; MOTION CONTROL; TORQUE CONTROL;

ARTICULATED OPEN CHAIN PLANAR LINKAGES; ROBOT DYNAMICS;

MANIPULATORS;

EID: 0031235364     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574797000611     Document Type: Article

References (9)

1. J.R. Jones, "A comparison of the dynamic performance of tuned and non-tuned multiharmonic cams" 2nd IFToMM Symposium on Linkages and Computer Aided Design Methods, Bucharest, Romania (1977) vol. III-2, No. 47, pp. 553-564.
2. G. Alici & S. Baysec, "Two dimensional step guidance of a dynamic load avoiding residual vibrations by a point positioning robot manipulator" Proceedings of 1993 Summer Computer Simulation Conference, Boston, Massachusetts, USA (1993) pp. 425-428.
3. S. Baysec, "Simulation of the dynamics of hydraulically actuated planar manipulators" Ph.D. Thesis (CNAA Liverpool Polytechnic, UK, 1983).
4. M.W. Walker & D.E. Orin, "Efficient dynamic computer simulation of robotic mechanisms" ASME, Journal of Dynamic Systems, Measurement and Control 104, 205-211 (1982).
5. G. Gorur, "Simulation of the dynamic response of planar, statically determinate trusses to external forces" M.Sc. Thesis (Middle East Technical University, Department of Mechanical Engineering, Gaziantep, Turkey, 1989).
6. B.K-P. Horn, "Kinematics, statics and dynamics of two dimensional manipulators" Artificial Intelligence, an MIT Perspective Massachusetts, USA 2, 273-308 (1979).
7. C. Backhouse & J.R. Jones, "Analogue computer simulation of a robot manipulator" I. Mech. E. Journal of Mechanical Engineering Science 23, No. 3, 121-129 (1981).
8. J.R. Jones, "Curve following in n dimensional Euclidean space" Simulation 21, No. 5, 145-149 (1973).
9. S. Baysec & J.R. Jones, "The comparative merits of analogue and digital computers in the simulation of hydraulically driven robot manipulators" 6th IFToMM World Congress, New Delhi, India (1983) pp. 944-948.