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Manipulator dynamics using the extended zero reference position description

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2 Author(s)
K. Kazerounian ; University of Connecticut, Storrs, CT, USA ; K. Gupta

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:

IEEE Journal on Robotics and Automation  (Volume:2 ,  Issue: 4 )