On dynamic modelling of robot manipulators: The method of virtual links

Proceedings of the ASME Design Engineering Technical Conference

Volumn 5 A, Issue , 2002, Pages 235-241

  Abo Shanab, R F ^a   Sepehri, N ^a   Wu, Q ^a  

^a UNIVERSITY OF MANITOBA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; GRAVITATIONAL EFFECTS; JOINTS (STRUCTURAL COMPONENTS); KINEMATICS; STATE SPACE METHODS; TORQUE; ROBOT APPLICATIONS; TECHNICAL PRESENTATIONS;

VIRTUAL LINKS; CONVENTIONAL METHODS; DEGREE OF FREEDOM; DYNAMIC MODELLING; FIXED BASE; ON DYNAMICS; PLANAR MANIPULATOR; ROBOT MANIPULATOR; SERIAL LINK MANIPULATORS; SPHERICAL JOINT; VIRTUAL LINK;

MANIPULATORS;

EID: 0036977298     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

1. S. Dubowsky and E. Papadopoulos, 1993, "The kinematics, Dynamics, and Control of Free-Flying and Free-Floating Space Robotic Systems" IEEE Transactions on Robotics and Automation, vol. 9, No. 5, pp. 531-543.
2. F.M. Carter and D.B. Cherchas, 1999, "Motion Control of Non Fixed Base Robotic Manipulators," Robotica, vol. 17, pp. 143-157.
3. Z. Vafa and S. Dubowsky, 1987, "On the Dynamic of Manipulators in Space using the Virtual Manipulator Approach," Proceedings of IEEE Int. Conference on Robotics and Automation, pp. 579-585.
4. K.S. Fu, R.C. Gonzalez, and C.S.G. Lee, 1987, "Robotics: Control, Sensing, Vision, and Intelligence," MCGrew-Hill, Singapore.
5. J.M. Hollarbach, 1980, "A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamic Formulation Complexity," IEEE Trans. Systems, Man, and Cybernetics, vol. 10, pp.730-736.
6. M.M. Sallam, R.F. Abo-Shanab, and A.A. Nasser, 1998, "Modified Methods for Dynamic Modeling of Robot Manipulators" Proceedings of ASME Design Engineering Technical Conference, Atlanta, GA, paper number DETC98/MECH-5860.
7. R.F. Abo-Shanab, Q. Wu, and N. Sepehri, 2001, "On Derivation of Constrained Multiple Rigid Body Dynamic Equations," Proceedings of the American Control Conference, Arlington, VA, USA, pp. 3565-3569.
8. R.F. Abo-Shanab and N. Sepehri, 2001, "On Dynamic Stability of Manipulators Mounted on Mobile Platforms," Robotica, vol. 19, pp. 439-449.
9. Y. Zheng and H. Hemami, 1985, "Mathematical Modeling of a Robot Collision with its Environment," Journal of Robotic Systems, vol. 2, pp. 289-307.