Loading...
Please wait, while we are loading the content...
Similar Documents
Recursive newton-euler formulation of manipulator dynamics
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Nasser, M. G. |
| Copyright Year | 1989 |
| Description | A recursive Newton-Euler procedure is presented for the formulation and solution of manipulator dynamical equations. The procedure includes rotational and translational joints and a topological tree. This model was verified analytically using a planar two-link manipulator. Also, the model was tested numerically against the Walker-Orin model using the Shuttle Remote Manipulator System data. The hinge accelerations obtained from both models were identical. The computational requirements of the model vary linearly with the number of joints. The computational efficiency of this method exceeds that of Walker-Orin methods. This procedure may be viewed as a considerable generalization of Armstrong's method. A six-by-six formulation is adopted which enhances both the computational efficiency and simplicity of the model. |
| File Size | 352346 |
| Page Count | 10 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19900020546 |
| Archival Resource Key | ark:/13960/t4vj0fh9m |
| Language | English |
| Publisher Date | 1989-01-31 |
| Access Restriction | Open |
| Subject Keyword | Numerical Analysis Hinges Robot Arms Translational Motion Recursive Functions Newton Methods Euler Equations of Motion Remote Manipulator System Kinematics Manipulators Robot Dynamics Trees Mathematics Rotation Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
