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Recursive Algorithms For Dynamics Of Geared RobotsImproved recursive algorithms compute dynamics of robotic manipulator driven through gears by motors located away from joints. Rotation of each link of manipulator arm about joint at inboard end driven by motor and gears mounted on adjacent inboard link. Inertias of motors and gears taken into account.
Document ID
19920000250
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Jain, Abhinandan (Caltech)
Rodriguez, Guillermo (Caltech)
Date Acquired
August 15, 2013
Publication Date
April 1, 1992
Publication Information
Publication: NASA Tech Briefs
Volume: 16
Issue: 4
ISSN: 0145-319X
Subject Category
Machinery
Report/Patent Number
NPO-18230
Report Number: NPO-18230
ISSN: 0145-319X
Accession Number
92B10250
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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