Dynamic analysis of robotic manipulators with closed kinematic chains

I. Bindzi, M. J. Richard, C. M. Gosselin, L. Cheng

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

3 Citations (Scopus)

Abstract

The dynamic analysis of closed-chain robot manipulators using the vector-network method is presented. This technique arises from the application of fundamental theorems of dynamics along with the exploitation of principles from graph theory. From the orthogonality principle and from the vector network's constitutive equations, differential algebraic equations (DAEs) describing the dynamics of the manipulator with closed kinematic chains are derived. It is shown how the vector-network technique automatically generates the holonomic loop constraint equations. The system's response can then be obtained by any methods dedicated to DAE.

Original languageEnglish
Title of host publicationTENCON 1992 - Technology Enabling Tomorrow
Subtitle of host publicationComputers, Communications and Automation towards the 21st Century - 1992 IEEE Region 10 International Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages639-643
Number of pages5
ISBN (Electronic)0780308492
DOIs
Publication statusPublished - 1 Jan 1992
Externally publishedYes
Event1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century, TENCON 1992 - Melbourne, Australia
Duration: 11 Nov 199213 Nov 1992

Publication series

NameIEEE Region 10 Annual International Conference, Proceedings/TENCON
ISSN (Print)2159-3442
ISSN (Electronic)2159-3450

Conference

Conference1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century, TENCON 1992
CountryAustralia
CityMelbourne
Period11/11/9213/11/92

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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