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Please use this identifier to cite or link to this item: http://hdl.handle.net/2259/282

Title: A Unified Dynamic Model Formulation for Robotic Manipulator Systems
Authors: Swain, Anjan Kumar
Morris, Alan S.*
Keywords: Robotic Manipulator Systems
Dynamic Model Formulation
manipulator dynamics Model
Issue Date: 2003
Publisher: Journal of Robotic Systems: Wiley Periodicals
Abstract: This paper addresses the problem of formulation of a unified dynamic model for sundry robotic manipulator systems derived from the first principle of mechanics instead of the existing formulation based on linear separability principle. It provides a systematic derivation, evaluation and subsequent conceptual interpretation of manipulator dynamics model. Further, it analyzes the generality of the unified model over a wide range of manipulator configurations. In addition, it describes the implementation aspects of the unified model.
Description: Journal of Robotic Systems 20(10), 1–0 (2003) © 2003 Wiley Periodicals, Inc. * External Authors.
URI: http://hdl.handle.net/2259/282
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