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Author Jain, A. ♦ Rodriguez, G.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1990
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Manipulator dynamics ♦ Robots ♦ Gears ♦ Heuristic algorithms ♦ Actuators ♦ Propulsion ♦ Computational complexity ♦ Costs ♦ Control system synthesis ♦ Error correction
Abstract The authors consider the dynamical modeling of robot manipulators whose joint actuators consist of motors driving the joints through gears. The dynamical models for such manipulators are significantly more complex than those for direct drive manipulators. The authors develop recursive O(n) inverse and forward dynamics algorithms as well as recursive O(n/sup 2/) algorithms for the computation of the mass matrix for geared manipulators. It is shown that, despite the added complexity of the dynamical models for geared manipulators, the algorithms closely resemble the corresponding algorithms for direct drive manipulators, and that the additional algorithmic or computational complexity is relatively insignificant. As a consequence, with little additional cost, existing direct drive algorithms can be easily extended to handle the effects of gearing at the joints.<<ETX>>
Description Author affiliation: Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA (Jain, A.; Rodriguez, G.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1990-12-05
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 574.97 kB
Page Count 6
Starting Page 1983
Ending Page 1988


Source: IEEE Xplore Digital Library