By Topic

Dynamics of a Closed Chain Manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
McClamroch, N.H. ; Department of Aerospace Engineering, The University of Michigan, Ann Arbor, Michigan 48109-1109 ; Huang, Han-Pang

In many manipulator configurations, where the end effector of the manipulator is in contact with a fixed object, a complete mathematical model for the manipulator dynamics should include the effects of the resulting contact force between the end effector and the fixed object. Equations for such a closed chain manipulator are developed, where the end effector constraint is defined by a smooth manifold. These equations are shown to be complete in the sense that the direct dynamics problem and the inverse dynamics problem are well-posed. This formulation suggests a new approach to planning and tracking control for manipulators in a constrained environment.

Published in:

American Control Conference, 1985

Date of Conference:

19-21 June 1985