Journal ArticleDOI
Kinematic and kinetic analysis of open-chain linkages utilizing Newton-Euler methods
TLDR
Improvements in a Newton-Euler approach to spatial open-chain mechanism analysis introduced by one of the authors are presented, which are shown to satisfy a number of necessary conditions, thereby validating to some extent both the methodology and the corresponding computer program.Abstract:
This paper presents some improvements in a Newton-Euler approach to spatial open-chain mechanism analysis introduced by one of the authors in an earlier publication. The improvements have to do both with the introduction of simplified notation and with more efficient computational procedures. The validity and utility of the method is illustrated by an application to the problem of calculating joint torques for the legs of a hexapod locomotion system. The results obtained agree well with experimental measurements and are also shown to satisfy a number of necessary conditions, thereby validating to some extent both the methodology and the corresponding computer program.read more
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Book
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 Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity
TL;DR: It is concluded that recursive formultions based either on the Lagrangian or Newton-Euler dynamics offer the best method of dynamns calculation.
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
The Calculation of Robot Dynamics Using Articulated-Body Inertias:
TL;DR: In this article, a new method for calculating the acceleration of a robot in response to given actuator forces is described, which is applicable to open-loop kinematic chains containing revolute and prismatic joints.
Journal ArticleDOI
Computational modeling for the computer animation of legged figures
TL;DR: PODA provides for the integration of a simple model of legged locomotion dynamics which insures that the accelerations of a figure's body are synchronized with the timing of the forces applied by its legs.
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