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: | , |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6387 |
| _version_ | 1826215470470004736 |
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| author | Hollerbach, John M. Sahar, Gideon |
| author_facet | Hollerbach, John M. Sahar, Gideon |
| author_sort | Hollerbach, John M. |
| collection | MIT |
| description | 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 needed in the recursive Newton-Euler dynamics formulation. Additional savings in the dynamics computation are noted for a class of kinematically well-structured manipulators such as spherical-wrist arms and for manipulators with simply-structured inertial parameters. |
| first_indexed | 2024-09-23T16:30:45Z |
| id | mit-1721.1/6387 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:30:45Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/63872019-04-11T01:11:37Z Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics Hollerbach, John M. Sahar, Gideon 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 needed in the recursive Newton-Euler dynamics formulation. Additional savings in the dynamics computation are noted for a class of kinematically well-structured manipulators such as spherical-wrist arms and for manipulators with simply-structured inertial parameters. 2004-10-04T14:54:17Z 2004-10-04T14:54:17Z 1983-04-01 AIM-717 http://hdl.handle.net/1721.1/6387 en_US AIM-717 3143658 bytes 2451018 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Hollerbach, John M. Sahar, Gideon Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics |
| title | Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics |
| title_full | Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics |
| title_fullStr | Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics |
| title_full_unstemmed | Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics |
| title_short | Wrist-Partitioned Inverse Kinematic Accelerations and Manipulator Dynamics |
| title_sort | wrist partitioned inverse kinematic accelerations and manipulator dynamics |
| url | http://hdl.handle.net/1721.1/6387 |
| work_keys_str_mv | AT hollerbachjohnm wristpartitionedinversekinematicaccelerationsandmanipulatordynamics AT sahargideon wristpartitionedinversekinematicaccelerationsandmanipulatordynamics |