A technique for analyzing constrained rigid-body systems, and its application to the constraint force algorithm

IEEE Transactions on Robotics and Automation

Volumn 15, Issue 6, 1999, Pages 1140-1144

  Featherstone, Roy ^a   Fijany, Amir ^b  

^a ABERYSTWYTH UNIVERSITY   (United Kingdom)

^b CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Constrained dynamics; Dual vector space; Robot dynamics algorithm

Indexed keywords

ALGORITHMS; CONSTRAINT THEORY; DYNAMICS; VECTORS;

CONSTRAINED DYNAMICS; RIGID BODY SYSTEMS;

ROBOTICS;

EID: 0033319385     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.817679     Document Type: Article

References (12)

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