Formulation of the equations of motion of RRRR robot manipulator

Transactions of the Canadian Society for Mechanical Engineering

Volumn 22, Issue 1, 1998, Pages 83-92

  Attia, Hazem Ali ^a  

^a CAIRO UNIVERSITY   (Egypt)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; EQUATIONS OF MOTION; MATHEMATICAL TRANSFORMATIONS; ROBOTICS;

RRRR ROBOT MANIPULATOR;

MANIPULATORS;

EID: 0031653568     PISSN: 03158977     EISSN: None     Source Type: Journal    
DOI: 10.1139/tcsme-1998-0005     Document Type: Article

References (9)

1. Orlandea, N., Wiley, J.C., and Wehage R., "ADAMS2: A Sparse Matrix Approach to the Dynamic Simulation of Two-Dimensional Mechanical Systems", SAE Paper 780486, 1978.
2. Serna, M.A., Aviles, R., And Garcia de Jalon, J., "Dynamic Analysis of Plane Mechanisms with Lower Pairs in Basic Coordinates, "Mechanism and Machine Theory, Vol. XX, pp. 397-403, 1982.
3. Nikravesh P.E., Computer Aided Analysis of Mechanical Systems, Prentice-Hall, Englewood Cliffs, N.J., 1988.
4. Kim, S.S., And Vanderploeg, M.J., "QR Decomposition for State Space Representation of Constrained Mechanical Dynamic Systems", ASME Journal of Mechanisms, Transmissions and Automation in Design, Vol. 108, pp. 183-188, 1985.
5. Kim S.S., And Vanderploeg, M.J., "A General and Efficient Method for Dynamic Analysis of Mechanical Systems Using Velocity Transformation", ASME Journal of Mechanisms, Transmissions and Automation in Design, Vol. 108, No. 2, pp. 176-182, 1986.
6. Angeles, J., and Ma, O. "Dynamic Simulation of n-axis Serial Robotic Manipulators Using a Natural Orthogonal Complement," Int. J. of Robotics Research, vol. 7, no. 5, pp. 32-47, 1988.
7. Nikravesh P.E., and Gim, G., "Systematic Construction of the Equations of Motion for Multibody Systems Containing Closed Kinematic Loops," ASME J. of Mechanical Design, vol. 115, pp. 143-149, 1989.
8. Attia, H.A., A Computer-Oriented Dynamical Formulation with Applications to Multibody Systems, Ph.D. Dissertation, Department of Engineering Mathematics and Physics, Faculty of Engineering, Cairo University, 1993.
9. Nikravesh, P.E., Attia, H.A., "Construction of the Equations of Motion for Multibody Dynamics Using Point and Joint Coordinates," Computer-Aided Analysis of Rigid and Flexible Mechanical Systems, Kluwer academic publications, NATO ASI, Series E: Applied Sciences-vol. 268, pp. 31-60, 1994.