Simulation of industrial manipulators based on the UDUT decomposition of inertia matrix

Multibody System Dynamics

Volumn 9, Issue 1, 2003, Pages 63-85

  Saha, Subir Kumar ^a  

^a INDIAN INSTITUTE OF TECHNOLOGY DELHI   (India)

Author keywords

Forward dynamics; Manipulators; Recursive algorithm; Simulation

Indexed keywords

ACCELERATION; ALGORITHMS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); MATRIX ALGEBRA; UNIVERSAL JOINTS;

DECOUPLED NATURAL ORTHOGONAL COMPLEMENT MATRICES; INDUSTRIAL MANIPULATORS; INERTIA MATRIX; PRISMATIC JOINTS; RECURSIVE ALGORITHM; RECURSIVE FORWARD DYNAMICS ALGORITHM; REVOLUTE JOINTS;

MANIPULATORS;

EID: 0037312520     PISSN: 13845640     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1021659722559     Document Type: Article

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