The Robotic Dynamical Algorithm by Divided Load-Manipulator

Sun Changguo; Ma Xiangfeng

doi:10.13374/j.issn1001-053x.1990.03.009

Volume 12 Issue 3

Nov. 2021

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Article Navigation > Chinese Journal of Engineering > 1990 > 12(3): 250-256

Sun Changguo, Ma Xiangfeng. The Robotic Dynamical Algorithm by Divided Load-Manipulator[J]. Chinese Journal of Engineering, 1990, 12(3): 250-256. doi: 10.13374/j.issn1001-053x.1990.03.009

Citation:

Sun Changguo, Ma Xiangfeng. The Robotic Dynamical Algorithm by Divided Load-Manipulator[J]. Chinese Journal of Engineering, 1990, 12(3): 250-256. doi: 10.13374/j.issn1001-053x.1990.03.009

Sun Changguo, Ma Xiangfeng. The Robotic Dynamical Algorithm by Divided Load-Manipulator[J]. Chinese Journal of Engineering, 1990, 12(3): 250-256. doi: 10.13374/j.issn1001-053x.1990.03.009

Citation:

Sun Changguo, Ma Xiangfeng. The Robotic Dynamical Algorithm by Divided Load-Manipulator[J]. Chinese Journal of Engineering, 1990, 12(3): 250-256. doi: 10.13374/j.issn1001-053x.1990.03.009

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The Robotic Dynamical Algorithm by Divided Load-Manipulator

doi: 10.13374/j.issn1001-053x.1990.03.009

Robotics Institute

Received Date: 1989-04-25
Available Online: 2021-11-15
Publish Date: 2021-11-15

Abstract

Abstract

Based on the Kane's equation, a new general robotic dynamical algorithm, in which load-manipulator is divided, has been presented. The algorithm with closed-form is efficient in solving the dynamical problems of manipulator with closed-chain or opcned-chain, and generating the dynamical numeric-symbolic model of manipulator by computer. The algorithm has been derived and the characters of the algorithm has been discussed.
- manipulator,
- dynamic,
- algorithm,
- numeric-symbolic