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Keywords: inverse dynamics
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Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031002.
Paper No: JMR-22-1261
Published Online: January 25, 2023
...Jason Bettega; Dario Richiedei; Iacopo Tamellin; Alberto Trevisani An enhanced inverse dynamics approach is here presented for feedforward control of underactuated multibody systems, such as mechanisms or robots where the number of independent actuators is smaller than the number of degrees...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2021, 13(6): 064501.
Paper No: JMR-20-1162
Published Online: July 5, 2021
...Thanh-Trung Do; Viet-Hung Vu; Zhaoheng Liu A new symbolic differentiation algorithm is proposed in this paper to automatically generate the inverse dynamics of flexible-joint robots in symbolic form, and results obtained can be used in real-time applications. The proposed method with O ( n...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011002.
Paper No: JMR-20-1603
Published Online: July 5, 2021
..., are modeled in this study using the finite element (FE) floating frame of reference (FFR) formulation which employs two coupled sets of coordinates: the reference and elastic coordinates. The inverse dynamics, based on the FFR formulation, leads to driving forces associated with the deformation degrees...