Recursive algorithms using local constraint embedding for multibody system dynamics

Proceedings of the ASME Design Engineering Technical Conference

Volumn 4, Issue PARTS A, B AND C, 2009, Pages 139-147

  Jain, Abhinandan ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT EMBEDDING; FORWARD DYNAMIC; LOCAL CONSTRAINTS; MASS MATRICES; MULTI-BODY SYSTEM DYNAMICS; RECURSIVE ALGORITHMS; SYSTEM DYNAMICS; SYSTEM TOPOLOGY;

ALGORITHMS; DESIGN; FORESTRY; TOPOLOGY;

SYSTEM THEORY;

ALGORITHMS; DESIGN; FORESTRY;

EID: 79959351273     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2009-87663     Document Type: Conference Paper

References (13)

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3. Featherstone, R., 1983. "The Calculation of Robot Dynamics using Articulated-Body Inertias". The International Journal of Robotics Research, 2(1), Spring, pp. 13-30. (Pubitemid 13559099)
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9. Rodriguez, G., and Kreutz-Delgado, K., 1992. "Spatial Operator Factorization and Inversion of the Manipulator Mass Matrix". IEEE Transactions on Robotics and Automation, 8(1), Feb., pp. 65-76.
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11. Jain, A., and Rodriguez, G., 2000. "Computational Robot Dynamics Using Spatial Operators". In IEEE International Conference on Robotics and Automation.
12. Jain, A., and Rodriguez, G., 1993. "Linearization of Manipulator Dynamics Using Spatial Operators". IEEE Transactions on Systems, Man and Cybernetics, 23(1), Jan., pp. 239-248.
13. Jain, A., and Rodriguez, G., 1995. "Diagonalized Lagrangian Robot Dynamics". IEEE Transactions on Robotics and Automation, 11(4), Aug., pp. 571-584.