Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics
An efficient algorithm is presented for the calculation of the inverse kinematic accelerations for a 6 degree-of-freedom manipulator with a spherical wrist. The inverse kinematic calculation is shown to work synergistically with the inverse dynamic calculation, producing kinematic parameters...
Main Authors: | , |
---|---|
Language: | en_US |
Published: |
2004
|
Online Access: | http://hdl.handle.net/1721.1/6387 |