Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics

dc.creator	Hollerbach, John M.
dc.creator	Sahar, Gideon
dc.date	2004-10-04T14:54:17Z
dc.date	2004-10-04T14:54:17Z
dc.date	1983-04-01
dc.date.accessioned	2013-10-09T02:45:03Z
dc.date.available	2013-10-09T02:45:03Z
dc.date.issued	2013-10-09
dc.identifier	AIM-717
dc.identifier	http://hdl.handle.net/1721.1/6387
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.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.
dc.format	3143658 bytes
dc.format	2451018 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-717
dc.title	Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics

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