Parallelism in Manipulator Dynamics

This paper addresses the problem of efficiently computing the motor torques required to drive a lower-pair kinematic chain (e.g., a typical manipulator arm in free motion, or a mechanical leg in the swing phase) given the desired trajectory; i.e., the Inverse Dynamics problem. It investigates...

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Bibliographic Details
Main Author: Lathrop, Richard D.
Language:en_US
Published: 2004
Online Access:http://hdl.handle.net/1721.1/6943