IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity

Author(s): John M. Hollerbach
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 1980
Volume: 10
Page(s): 730 - 736
ISSN (Paper): 0018-9472
ISSN (Online): 2168-2909
DOI: 10.1109/TSMC.1980.4308393
Regular:

An efficent Lagangian formulation of manipulator dynamics has been developed. The efficiency derives from recurrence relatons for the velocities, accelerations, and generalized forces. The number... View More

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