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http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/6387| Title: | Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics |
| Issue Date: | 9-Oct-2013 |
| Description: | An efficient algorithm is presented for the calculation of the inverse kinematic accelerations for a 6 degree-of-freedom manipulator with a spherical wrist. The inverse kinematic calculation is shown to work synergistically with the inverse dynamic calculation, producing kinematic parameters needed in the recursive Newton-Euler dynamics formulation. Additional savings in the dynamics computation are noted for a class of kinematically well-structured manipulators such as spherical-wrist arms and for manipulators with simply-structured inertial parameters. |
| URI: | http://koha.mediu.edu.my:8181/xmlui/handle/1721 |
| Other Identifiers: | AIM-717 http://hdl.handle.net/1721.1/6387 |
| Appears in Collections: | MIT Items |
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