Efficient formulation of the force distribution equations for general tree-structured robotic mechanisms with a mobile base

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 30, Issue 4, 2000, Pages 529-538

  Hung, Min Hsiung ^a,b   Orin, David E ^a,c   Waldron, Kenneth J ^c  

^a IEEE

^b NATIONAL DEFENSE UNIVERSITY   (Taiwan)

^c The Ohio State University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ALGORITHMS; COMPUTATIONAL COMPLEXITY; CONSTRAINT THEORY; DATA STRUCTURES; FRICTION; MECHANISMS; OPTIMIZATION; RECURSIVE FUNCTIONS; ROBOTICS; TORQUE; UNIVERSAL JOINTS;

CONTACT FRICTION CONSTRAINT; FORCE DISTRIBUTION EQUATION; JOINT TORQUE CONSTRAINT; PLANETARY ROVERS; TERRAIN ADAPTIVE VEHICLES; TREE STRUCTURED ROBOT;

MOBILE ROBOTS;

EID: 0034248280     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/3477.865170     Document Type: Article

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