Referenced Items are not available for this document.
A simplified description of robotic manipulator is in terms of its zero reference position. It requires the specification of the joint axes directions and the coordinates of points locating the joint axes in the base coordinate system. Manipulator dynamics is developed in an extended zero reference position description. The recursive Newton-Euler formulations for the problems of inverse and direct dynamics are presented.
Published in:
Robotics and Automation, IEEE Journal of
(Volume:2
,
Issue:
4
)
Date of Publication: December 1986
- Page(s):
- 221 - 224
- ISSN :
- 0882-4967
- Digital Object Identifier :
- 10.1109/JRA.1986.1087061
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 January 2003
- Issue Date :
- December 1986
- Sponsored by :
- IEEE Robotics and Automation Society
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