O(N) forward dynamics computation of open kinematic chains based on the principle of virtual work

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2001, Pages 2824-2831

  Yamane, K ^a   Nakamura, Y ^a  

^a UNIVERSITY OF TOKYO   (Japan)

Author keywords

Forward dynamics; O(N) complexity; Open kinematic chains; Principle of virtual work

Indexed keywords

COMPUTATIONAL COMPLEXITY; COMPUTER SIMULATION; CONSTRAINT THEORY; FORCE CONTROL; LINEAR ALGEBRA; ROBOTICS; VIRTUAL REALITY;

OPEN KINEMATIC CHAINS;

KINEMATICS;

EID: 0034878016     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. Efficient dynamic computer simulation of robot manipulators
2. Parallel O(log N) algorithms for computation of manipulator forward dynamics
3. Linear-time dynamics using Lagrange multipliers
4. A technique for analyzing constrained rigid-body systems, and its application to the constraint force algorithm
5. Dynamics computation of structure-varying kinematic chains and its application to human figures
6. Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators