Modeling of mechanical systems with lumped elasticity

Proceedings-IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2000, Pages 3964-3969

  Khalil, W ^a   Gautier, M ^a  

^a INSTITUT DE RECHERCHE EN COMMUNICATIONS ET CYBERNÉTIQUE DE NANTES   (France)

Author keywords

[No Author keywords available]

Indexed keywords

ELASTIC JOINT; INVERSE DYNAMIC MODEL; MECHANICAL SYSTEM;

COMPUTATIONAL METHODS; DEGREES OF FREEDOM (MECHANICS); ELASTICITY; INVERSE KINEMATICS; MACHINE TOOLS; MATHEMATICAL MODELS; UNIVERSAL JOINTS;

ROBOTICS;

EID: 0033719357     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2000.845349     Document Type: Article

References (18)

1. Denavit J., Hartenberg R.S., "A kinematic notation for lower pair mechanism based on matrices", Trans. ASME, J. of Applied Mechanics, Vol. 22,1955, p. 215-221.
2. Khalil W., Kleinfinger J.-F., "A new geometric notation for open and closed-loop robots", Proc IEEE Int. Conf: on Robotics and Automation, San Francisco,1986, p. 1174-1 180.
3. Khalil W., Dombre E., "Modélisation, identification et commande des robots", Hermès, 1999, PARIS.
4. Pieper D.L., "The kinematics of manipulators under computer control", Ph. D. Thesis, Stanford University, 1968.
5. Paul R.C.P., Robot matupulators: mathematics, programming and control, MIT Press, Cambridge, 1981.
6. Renaud M., "Calcul de la matrice jacobienne nkcessaire a la commande coordonnke d'un manipulateur", J. of Mechanism and Machine Theory, Vol. 15(1), 1980, p. 81-91.
7. Featherstone R., "Position and velocity transformations between robot end-effector coordinates and joint angles", The Int. J. of Robotics Research, Vol. 2(2), 1983, p. 35-45.
8. Armstrong W.W., "Recursive solution to the equation of motion of an N-links manipulator", Proc. 5th World Congress on Theory of Machines and Mechanisms, 1979, p. 1343-1346.
9. Featherstone R., "The calculation of robot dynamics using articulated-body inertias", The Int. J. of Robotics Research, Vol. 2(3), 1983, p. 87-101.
10. Brandl H., Johanni R., Otter M., "A very efficient algorithm for the simulation of robots and multibody systems without inversion of the mass matrix", Proc. IFAC Symp. on Theory of Robots, Vienne, dec. 1986, p. 365-370.
11. Luh J.Y.S., Walker M.W., Paul R.C.P., "On-line computational scheme for mechanical manipulators", Trans. Of ASME, J. of Dynamic Systems, Measurement, and Control, Vol. 102(2), 1980, p. 69-76.
12. Khalil W., Kleinfinger J.-F., "Minimum operations and minimum parameters of the dynamic model of tree structure robots", IEEE J. of Robotics and Automation, Vol. RA-3(6), dec. 1987, p. 517-526.
13. Khalil W., Creusot D.,"SYMORO+: a system for the symbolic modelling of robots", Robotica, Vol. 15, 1997, p. 153-161.
14. Spong M.W., "Modeling and control of elastic joint robots", Trans of the ASME, J of Dynamic Systems, Measurement, and Control, Vol. 109, 1987, p. 310-3 19.
15. Khosla P.K., "Real-time control and identification of direct drive manipulators", Ph. D. Thesis, Carnegie Mellon, 1986.
16. The Zodiac, Theory of robots control (C. Canudas de Wit, B. Siciliano, G. Bastin Eds., Springer-Verlag, Berlin, 1996.
17. Khalil W., Bennis F., "Comments on Direct Calculation of Minimum Set of Inertial Parameters of Serial Robots", IEEE Trans. on Rob.& Automation, Vol. RA-10(1), 1994, p. 78-79.
18. Gautier M., "Numerical calculation of the base inertial parameters", J. of Robotic Systems, Vol. 8(4),1991, p. 485-506.