Standard and diagonalized Lagrangian dynamics for robot manipulators

ZAMM Zeitschrift fur Angewandte Mathematik und Mechanik

Volumn 76, Issue SUPPL. 3, 1996, Pages 479-480

  Kozlowski K ^a  

^a POZNAN UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 33748815099     PISSN: 00442267     EISSN: 15214001     Source Type: Journal    
DOI: None     Document Type: Article

References (7)

1. BRANDL, H., JOHANNI, R., AND OTTER, M.: A Very Efficient Algorithm for the Simulation of Robots and Similar Multibody Systems Without Inversion of the Mass Matrix. Proc. of the Int. Symp. on the Theory of Robots, (1986), 365-370.
2. FEATHERSTONE, R.: Robot Dynamics Algorithms. Kluwer Academic Publishers, (1987).
3. JAIN, A., AND RODRIGUEZ, G.: Diagonalized Dynamics of Robot Manipulators. Proc. of the IEEE Int. Conf. on R&A, vol. 1, (1994), 334-339.
4. KOZŁOWSKI, K.: Computational Requirements for a Discrete Kalman Filter in Robot Dynamics Algorithms. Robotica, 11, (1983), 27-36.
5. KOZŁOWSKI, K.: Robot Dynamics Models in Terms of Generalized and Quasi-Coordinates: A Comparison. Appl. Math. and Comp. Sci., 5, No.2 (1995), 305-328.
6. RODRIQUEZ, G., KREUTZ, K.: Recursive Mass Matrix Factorization and Inversion, An Operator Approach to Open - and Closed - Chain Multibody Dynamics. JPL Publication 88-11, (1988).
7. WALKER, M.W., AND ORIN, D.E.: Efficient Dynamics Computer Simulation of Robotics Mechanisms. J.Dynamics Systems, Measurement and Control, 104, (1988), 205-211.