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Dynamic modeling of closed-chain robotic manipulators and implications for trajectory control

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2 Author(s)
J. J. Murray ; Martin Marietta Aerosp. & Naval Syst., Baltimore, MD, USA ; G. H. Lovell

A simple, physically insightful method for dynamic modeling of manipulators containing closed kinematic chains is presented. Founded on D'Alembert's principle, the method centers around a transformation from the well-understood dynamics of serial and open-chain mechanisms to closed-chain dynamic robot models. The framework for the closed-chain dynamic robot model fosters straightforward extensions of serial robot engineering activities in the areas of digital simulation, real-time control, parameter identification, and optimal path planning to closed-chain manipulators. The algorithms needed to realize these extensions are detailed, and the important concepts are highlighted with an example

Published in:

IEEE Transactions on Robotics and Automation  (Volume:5 ,  Issue: 4 )