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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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/6943 |