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Computational Simplification of Robot-Arm DynamicsReport presents two general methods for reducing mathematical complexities of state equations of robot-arm dynamics. Robot arms contain both rotary and linear joints. Both methods start with homogenous coordinates and Lagrangian formulation of mechanics briefly summarized in report. First method uses matrix-analysis techniques; second, vector-analysis techniques. Vector-analysis method includes new differential-vector representation of centripetal and Coriolis forces.
Document ID
19850000417
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Bejczy, A. K.
(Caltech)
Lee, S.
(Caltech)
Date Acquired
August 12, 2013
Publication Date
January 1, 1986
Publication Information
Publication: NASA Tech Briefs
Volume: 9
Issue: 3
ISSN: 0145-319X
Subject Category
Mathematics And Information Sciences
Report/Patent Number
NPO-16377
Accession Number
85B10417
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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