Abstract
The closed-form equations of motion for robot arms and other open kinematic chains are derived using the Newton-Euler equations in a form particularly suitable for the automatic modeling and on-line control of such mechanisms. The approach is based on Vukobratovic’s method (3), using more conventional Western notation.
Volume Subject Area:
13th Design Automation Conference
This content is only available via PDF.
Copyright © 1987 by The American Society of Mechanical Engineers
You do not currently have access to this content.
