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Spatial operator approach to under-actuated manipulator kinematics and dynamicsA study is made of the kinematics and dynamics of under-actuated manipulators. The presence of passive hinges causes the kinematics and dynamics of these manipulators to be considerably more complex when compared with fully actuated manipulators. Techniques from the spatial operator algebra are used to develop expressions for the generalized Jacobian, the mass matrix, and an efficient inverse dynamics computational algorithm.
Document ID
19920046660
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Jain, A. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Rodriguez, G. (JPL Pasadena, CA, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1991
Subject Category
Mechanical Engineering
Meeting Information
Meeting: 1991 American Control Conference
Location: Boston, MA
Country: United States
Start Date: June 26, 1991
End Date: June 28, 1991
Sponsors: American Automatic Control Council
Accession Number
92A29284
Distribution Limits
Public
Copyright
Other

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