Corrections to “Singularity-Free Dynamic Equations of Open-Chain Mechanisms With General Holonomic and Nonholonomic Joints”

2012 ◽  
Vol 28 (6) ◽  
pp. 1431-1432 ◽  
Author(s):  
Pål Johan From ◽  
Vincent Duindam ◽  
Stefano Stramigioli
Keyword(s):  
Dynamic Equations ◽  
Open Chain ◽  
Free Dynamic

Investigation on Kane dynamic equations based on screw theory for open-chain manipulators

2005 ◽  
Vol 26 (5) ◽  
pp. 627-635 ◽  
Author(s):  
Liu Wu-fa ◽  
Gong Zhen-bang ◽  
Wang Qin-que
Keyword(s):  
Screw Theory ◽  
Dynamic Equations ◽  
Open Chain

Dynamic Analysis of a Multi-Rigid-Body Open-Chain System

1983 ◽  
Vol 105 (1) ◽  
pp. 28-34 ◽  
Author(s):  
G. R. Pennock ◽  
A. T. Yang
Keyword(s):  
Rigid Body ◽  
Robot Manipulators ◽  
Dynamic Equations ◽  
Newtonian Mechanics ◽  
Open Chain ◽  
Analytical Technique ◽  
Chain System ◽  
Joint Forces ◽  
Reaction Forces ◽  
Common Effort

In this paper we present an analytical technique, based on Newtonian mechanics with screw calculus and dual-number matrices, to derive the dynamic equations of a multi-rigid-body open-chain system. Next, we outline a systematic procedure to derive closed-form expressions for the joint forces and torques and the reaction forces and moments exerted on each member in the system. Finally, we illustrate the procedure with two examples of robot manipulators. It is hoped that the analytical technique presented here will provide a meaningful alternative, or serve as a complement to existing methods, in our common effort to advance the design of robot manipulators.

scholarly journals Singularity-Free Dynamic Equations of AUV-Manipulator Systems

2010 ◽  
Vol 43 (16) ◽  
pp. 31-36 ◽  
Author(s):  
Pål J. From ◽  
Kristin Y. Pettersen ◽  
Jan T. Gravdahl
Keyword(s):  
Dynamic Equations ◽  
Free Dynamic

Singularity-free dynamic equations of vehicle–manipulator systems

2010 ◽  
Vol 18 (6) ◽  
pp. 712-731 ◽  
Author(s):  
Pål J. From ◽  
Vincent Duindam ◽  
Kristin Y. Pettersen ◽  
Jan T. Gravdahl ◽  
Shankar Sastry
Keyword(s):  
Dynamic Equations ◽  
Free Dynamic

scholarly journals Singularity-free dynamic equations of spacecraft-manipulator systems

2011 ◽  
Vol 69 (11-12) ◽  
pp. 1057-1065 ◽  
Author(s):  
Pål J. From ◽  
Kristin Ytterstad Pettersen ◽  
Jan T. Gravdahl
Keyword(s):  
Dynamic Equations ◽  
Free Dynamic

Automatic Formulation of Dynamic Equations of Motion of Robot Manipulators

1988 ◽  
Vol 202 (6) ◽  
pp. 397-404 ◽  
Author(s):  
D Pan ◽  
R S Sharp
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulators ◽  
Equations Of Motion ◽  
Chain Structure ◽  
Algebraic Manipulation ◽  
Dynamic Equations ◽  
Open Chain ◽  
Scalar Form ◽  
Memory Space ◽  
Manipulation Language

Based on the use of homogeneous transformation matrices with Denavit-Hartenberg notation and the Lagrangian formulation method, a general computer program ROBDYN.RED for the symbolic derivation of dynamic equations of motion for robot manipulators has been developed and is discussed in this paper. The program is developed by using REDUCE, an algebraic manipulation language, and is versatile for open-chain structure robot manipulators with any number of degrees of freedom and with any combination of types of joint. Considerations are also given to saving computer memory space required for execution and to minimizing the runtime. Several examples are included to demonstrate the use of the program. Equations of motion in scalar form can be automatically transferred to FORTRAN format for later numerical simulations. The efficiency of the resulting equations in terms of numerical integration is also discussed and some further developments to improve the efficiency are suggested.

Recognition of Neurons Impulses with the Use of Nonlinear Dynamic Equations

2001 ◽  
Vol 33 (5-8) ◽  
pp. 10
Author(s):  
Tatyana I. Aksenova ◽  
Igor V. Tetko ◽  
Olga K. Chibirova ◽  
Alexandro Villa
Keyword(s):  
Nonlinear Dynamic ◽  
Dynamic Equations ◽  
Nonlinear Dynamic Equations
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