A Unified Dynamic Model Formulation for Robotic Manipulator Systems |
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| Authors: | Anjan Kumar Swain Alan S. Morris |
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| Affiliation: | 1. Department of Electrical Engineering, Indira Gandhi Institute of Technology, Sarang, Dhenkanal-759146, Orissa, India;2. Department of Automatic Control and Systems Engineering, University of Sheffield, United Kingdom |
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| Abstract: | This paper addresses the problem of the formulation of a unified dynamic model for sundry robotic manipulator systems derived from the first principle of mechanics instead of the existing formulation based on linear separability principle. It provides a systematic derivation, evaluation, and subsequent conceptual interpretation of manipulator dynamics model. Further, it analyzes the generality of the unified model over a wide range of manipulator configurations. In addition, it describes the implementation aspects of the unified model. © 2003 Wiley Periodicals, Inc. |
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