Current Search: LAU, TO-CHOI. (x)
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Title
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THE DYNAMICS OF THE GENERALIZED MANIPULATOR.
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Creator
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LAU, TO-CHOI., Florida Atlantic University, Roth, Zvi S., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
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Abstract/Description
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The concept of "generalized manipulator" is introduced, and the closed form and recursive form dynamical models of the generalized manipulator are presented in Newton-Euler formulation. The physical meaning of each term in the dynamical model is explained. The dynamical models formulated by the Newton-Euler method and the Lagrangian-Euler method are proved equivalent. The dynamical model of the generalized manipulator is reduced to ordinary manipulators. The reduced dynamical model is shown...
Show moreThe concept of "generalized manipulator" is introduced, and the closed form and recursive form dynamical models of the generalized manipulator are presented in Newton-Euler formulation. The physical meaning of each term in the dynamical model is explained. The dynamical models formulated by the Newton-Euler method and the Lagrangian-Euler method are proved equivalent. The dynamical model of the generalized manipulator is reduced to ordinary manipulators. The reduced dynamical model is shown identical to existing models. Furthermore, the reduced dynamical model of the generalized manipulator can be used to compute forces and torques components along any direction. Application of the model to problems of mobile robots and flexible manipulators is shown.
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Date Issued
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1985
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PURL
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http://purl.flvc.org/fcla/dt/14243
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Subject Headings
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Manipulators (Mechanism), Robots
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Format
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Document (PDF)