Coordinate-invariant algorithms for robot dynamics

IEEE Transactions on Robotics and Automation

Volumn 15, Issue 6, 1999, Pages 1130-1135

  Ploen, Scott R ^a   Park, Frank C ^b  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^b Seoul National University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

ALGEBRA; ALGORITHMS; DYNAMICS; EQUATIONS OF MOTION; KINEMATICS; MATHEMATICAL TRANSFORMATIONS;

LIE ALGEBRA; MULTIBODY DYNAMICS;

ROBOTICS;

EID: 0033309880     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.817677     Document Type: Article

References (14)

1. C. A. Balafoutis and R. V. Patel, Dynamic Analysis of Robotic Manipulators: A Cartesian Tensor Approach. Boston, MA: Kluwer, 1991.
2. B. A. Dubrovin, A. T. Fomenko, and S. P. Novikov, Modern Geometry: Methods and Applications, Part 1. New York: Springer-Verlag, 1984.
3. R. Featherstone, Robot Dynamics Algorithms. Boston, MA: Kluwer, 1987.
4. O. Khatib, "A unified approach for motion and force control of robot manipulators: The operational space formulation," IEEE Robot. Automat., vol. RA-3, pp. 43-53, Feb. 1987.
5. J. Y. S. Luh, M. H. Walker, and R. P. Paul, "On-line computational scheme for mechanical manipulators," ASME J. Dyn. Syst., Meas., Contr., vol. 102, pp. 69-76, 1980.
6. B. J. . Martin and J. E. Bobrow, "Minimum-effort motions for open-chain manipulators with task-dependent end-effector constraints," Int. J. Robot. Res., vol. 18, no. 2, pp. 213-224, 1999.
7. R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robot Manipulation. Boca Raton, FL: CRC, 1993.
8. F. C. Park, J. E. Bobrow, and S. R. Ploen, "A Lie group formulation of robot dynamics," Int. J. Robot. Res., vol. 14, no. 6, pp. 609-618, 1995.
9. S. R. Ploen, Geometric Algorithms for the Dynamics and Control of Multibody Systems, Ph.D. dissertation, Univ. California, Irvine, 1997, http://www.eng.uci.edu/∼sploen/srpindex.html.
10. S. R. Ploen, J. E. Bobrow, and F. C. Park, "Geometric algorithms for operational space dynamics and control," in Proc. IEEE Int. Conf. Robot. Automat., Albuquerque, NM, 1997, pp. 1606-1611.
11. G. Rodriguez, A. Jain, and K. Kreutz-Delgado, "A spatial operator algebra for manipulator modeling and control," Int. J. Robot. Res., vol. 10, no. 4, pp. 371-381, 1991.
12. _, "Spatial operator algebra for multibody system dynamics," J. Astronaut. Sci., vol. 40, no. 1, pp. 27-50, 1992.
13. G. Rodriguez and K. Kreutz-Delgado, "Spatial operator factorization and inversion of the manipulator mass matrix," IEEE Trans. Robot. Automat., vol. 8, pp. 65-76, Feb. 1992.
14. W. M. Silver, "On the equivalence of Lagrangian and Newton-Euler dynamics for manipulators," Int. J. Robot. Res., vol. 1, no. 2, pp. 118-128, 1982.