A Recursive Lagrangian Formulation of Manipulator Dynamics

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/6317

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DC Field	Value	Language
dc.creator	Hollerbach, John M.	-
dc.date	2004-10-04T14:50:43Z	-
dc.date	2004-10-04T14:50:43Z	-
dc.date	1980-06-01	-
dc.date.accessioned	2013-10-09T02:44:50Z	-
dc.date.available	2013-10-09T02:44:50Z	-
dc.date.issued	2013-10-09	-
dc.identifier	AIM-533	-
dc.identifier	http://hdl.handle.net/1721.1/6317	-
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721	-
dc.description	An efficient Lagrangian formulation of manipulator dynamics has been developed. The efficiency derives from recurrence relations for the velocities, accelerations, and generalized forces. The number of additions and multiplications varies linearly with the number of joints, as opposed to past Lagrangian dynamics formulations with an n4 dependence. With this formulation it should be possible in principle to compute the Lagrangian dynamics in real time. The computational complexities of this and other dynamics formulations including recent Newton-Euler formulations and tabular formulations are compared. It is concluded that recursive formulations based either on the Lagrangian or Newton-Euler dynamics offer the best method of dynamics calculation.	-
dc.format	4853172 bytes	-
dc.format	3504013 bytes	-
dc.format	application/postscript	-
dc.format	application/pdf	-
dc.language	en_US	-
dc.relation	AIM-533	-
dc.title	A Recursive Lagrangian Formulation of Manipulator Dynamics	-
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