Dynamic analysis of robotic manipulators with closed kinematic chains

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

doi:10.1109/TENCON.1992.271893

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 proceeding › Conference article published in proceeding or book › Academic research › peer-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 language	English
Title of host publication	TENCON 1992 - Technology Enabling Tomorrow
Subtitle of host publication	Computers, Communications and Automation towards the 21st Century - 1992 IEEE Region 10 International Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	639-643
Number of pages	5
ISBN (Electronic)	0780308492
DOIs	https://doi.org/10.1109/TENCON.1992.271893
Publication status	Published - 1 Jan 1992
Externally published	Yes
Event	1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century, TENCON 1992 - Melbourne, Australia Duration: 11 Nov 1992 → 13 Nov 1992

Publication series

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

Conference

Conference	1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century, TENCON 1992
Country/Territory	Australia
City	Melbourne
Period	11/11/92 → 13/11/92

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

More information

10.1109/TENCON.1992.271893

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Bindzi, I., Richard, M. J., Gosselin, C. M., & Cheng, L. (1992). Dynamic analysis of robotic manipulators with closed kinematic chains. In TENCON 1992 - Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century - 1992 IEEE Region 10 International Conference (pp. 639-643). [271893] (IEEE Region 10 Annual International Conference, Proceedings/TENCON). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/TENCON.1992.271893

Bindzi, I. ; Richard, M. J. ; Gosselin, C. M. et al. / Dynamic analysis of robotic manipulators with closed kinematic chains. TENCON 1992 - Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century - 1992 IEEE Region 10 International Conference. Institute of Electrical and Electronics Engineers Inc., 1992. pp. 639-643 (IEEE Region 10 Annual International Conference, Proceedings/TENCON).

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author = "I. Bindzi and Richard, {M. J.} and Gosselin, {C. M.} and L. Cheng",

year = "1992",

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Bindzi, I, Richard, MJ, Gosselin, CM & Cheng, L 1992, Dynamic analysis of robotic manipulators with closed kinematic chains. in TENCON 1992 - Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century - 1992 IEEE Region 10 International Conference., 271893, IEEE Region 10 Annual International Conference, Proceedings/TENCON, Institute of Electrical and Electronics Engineers Inc., pp. 639-643, 1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century, TENCON 1992, Melbourne, Australia, 11/11/92. https://doi.org/10.1109/TENCON.1992.271893

Dynamic analysis of robotic manipulators with closed kinematic chains. / Bindzi, I.; Richard, M. J.; Gosselin, C. M. et al.

TENCON 1992 - Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century - 1992 IEEE Region 10 International Conference. Institute of Electrical and Electronics Engineers Inc., 1992. p. 639-643 271893 (IEEE Region 10 Annual International Conference, Proceedings/TENCON).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - 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.

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Bindzi I, Richard MJ, Gosselin CM, Cheng L. Dynamic analysis of robotic manipulators with closed kinematic chains. In TENCON 1992 - Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century - 1992 IEEE Region 10 International Conference. Institute of Electrical and Electronics Engineers Inc. 1992. p. 639-643. 271893. (IEEE Region 10 Annual International Conference, Proceedings/TENCON). doi: 10.1109/TENCON.1992.271893

Dynamic analysis of robotic manipulators with closed kinematic chains

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