Explicit Dynamic Formulation for n-R Planar Manipulators with Frictional Interaction between End-Effecter and Environment
This paper includes modeling and dynamic analysis of the planar manipulators which consist of n revolute joints and its end-effecter may possess a frictional contact with an arbitrary surface. The dynamic analysis has been done by using the Lagrangian method. The main contribution of this work is pr...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2011-06-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/10580 |