Journal ArticleDOI
Efficient Dynamic Computer Simulation of Robotic Mechanisms
M. W. Walker,David E. Orin +1 more
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This article is published in Journal of Dynamic Systems Measurement and Control-transactions of The Asme.The article was published on 1982-09-01. It has received 791 citations till now. The article focuses on the topics: Robotics & Fortran.read more
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Rigid Body Dynamics Algorithms
TL;DR: Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation to facilitate the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Journal ArticleDOI
A robotics toolbox for MATLAB
TL;DR: The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories.
Journal ArticleDOI
Dynamic interactions between limb segments during planar arm movement
John M. Hollerbach,Tamar Flash +1 more
TL;DR: The significance of the individual interaction forces during reaching movements in a horizontal plane involving only the shoulder and elbow joints has been assessed and trajectory formation strategies which simplify the dynamics computation are presented.
Journal ArticleDOI
Recursive Lagrangian Dynamics of Flexible Manipulator Arms
TL;DR: In this article, nonlinear equations of motion are developed for flexible manipulator arms consisting of rotary joints that connect pairs of flexible links and the link deflection is assumed small so that the link transformation can be composed of summations of assumed link shapes.
Journal ArticleDOI
The Robust Control of Robot Manipulators
TL;DR: The methodology is compared with standard algorithms such as the computed torque method and is shown to combine in practice improved performance with simpler and more tractable controller designs.