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...

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Bibliographic Details
Main Authors: Hollerbach, John M., Sahar, Gideon
Language:en_US
Published: 2004
Online Access:http://hdl.handle.net/1721.1/6387