IEEE - Institute of Electrical and Electronics Engineers, Inc. - Dynamic modeling of geared and flexibly jointed manipulators

Author(s): Murphy, S.H. ; Wen, J.T.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1991
Conference Location: Sacramento, CA, USA
Conference Date: 9 April 1991
Page(s): 1,765 - 1,770
ISBN (Paper): 0-8186-2163-X
DOI: 10.1109/ROBOT.1991.131877
Regular:

A Newton-Euler analysis of a robot manipulator with gears or joint flexibilities is presented. A recursive order N form for the calculation of the manipulator forward dynamics that includes all... View More

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