Abstract
The objectives of this work are the general derivation of a formal description of the equations of motion for a serial robot manipulator with ideal stiff joints subject to kinematic constraints such as complex mechanical couplings between actuator coordinates and joint coordinates. Therefore, the Lagrangian formalism is deployed for generation of the equations of motion. For evaluation, the feasibility and costs of coupling-induced change from general manipulator configuration description within joint space into actuator space are investigated at various stages during generation of equations of motion.
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Becke, M., Schlegl, T. (2012). Derivation of Dynamic Equations of Serial Robot Manipulators with Coupled Ideal Joint Motion. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_24
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DOI: https://doi.org/10.1007/978-3-642-33503-7_24
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