Open AccessAbout a basis‐free vectorial perspective manipulator dynamic parameters I: Tree structures
Author(s) -
Anigstein Mauricio
Publication year - 2001
Publication title -
journal of robotic systems
Language(s) - English
Resource type - Journals
eISSN - 1097-4563
pISSN - 0741-2223
DOI - 10.1002/1097-4563(200101)18:1<39::aid-rob4>3.0.co;2-8
Subject(s) - basis (linear algebra) , perspective (graphical) , manipulator (device) , set (abstract data type) , tree (set theory) , computer science , dynamics (music) , robot manipulator , control theory (sociology) , mathematical optimization , algorithm , mathematics , artificial intelligence , robot , geometry , physics , control (management) , mathematical analysis , acoustics , programming language
A vectorial formulation independent of particular coordinate systems is proposed to study manipulator dynamics. As comparative examples, the method is applied to problems that have already been solved, showing that the new approach helps to clarify and to improve the results. In this article, the determination of the minimum set of dynamic parameters of manipulators with tree structures is revisited. © 2001 John Wiley & Sons, Inc.