Investigation on Kane dynamic equations based on screw theory for open-chain manipulators

Author:

Wu-fa Liu,Zhen-bang Gong,Qin-que Wang

Publisher

Springer Science and Business Media LLC

Subject

Applied Mathematics,Mechanical Engineering,Mechanics of Materials

Reference6 articles.

1. Gong Zhenbang, Wang Qinque, Qian Jinwu,et al., Mechanical Design for Robots[M]. Publishing House of Electronics Industry, Beijing, 1995, 132–190 (in Chinese).

2. Richard M Murray, Li Zexiang, Sastry S Shankar.A Mathematical Introduction to Robotic Manipulation [M]. Xu Weiliang, Qing Ruiming (transls). China Mechanical Industry Press, Beijing, 1998, 11–101 (Chinese Version).

3. Brockett R W, Stokes A, Park F. A geometrical formulation of the dynamical equations describing kinematic chains[A]. In: IEEE Robotics and Automation Society (ed).IEEE International Conference on Robotics and Automation[C]. IEEE Computer Society Press, USA, 1993, 637–641.

4. Park F C. Computational aspects of the product of exponentials formula for robot kinematics[J].IEEE Transactions on Automatic Control, 1994,39(3): 643–647.

5. Chen Wenliang.Analytical Mechanics[M]. Shanghai Jiaotong University Press, Shanghai, 1991 (in Chinese).

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