Lai, X., Wu, Y., She, J., & Wu, M. (2005). \(\dot{\eta } = (\dot{q}_1, \dot{q}_2, \ddot{q}_1, \ddot{q}_2)\), $$\begin{aligned} \ddot{q}_1= & {} \frac{1}{d} \Big ( c_2c_3\sin (q_2)(\dot{q}_1+\dot{q}_2)^2 + c_3^2 \sin (q_2)\cos (q_2)\dot{q}_1^2 \nonumber \\&-\;c_2c_4g\cos (q_1) + c_3c_5g\cos (q_2)\cos (q_1+q_2) \nonumber \\&-\;\tau (c_2+c_3\cos (q_2)) \Big ) \, , \end{aligned}$$, $$\begin{aligned} \ddot{q}_2= & {} \frac{1}{d} \Big ( -c_3\sin (q_2)(c_2+c_3\cos (q_2))(\dot{q}_1+\dot{q}_2)^2 \nonumber \\&-\;c_3\sin (q_2)(c_1+c_3\cos (q_2))\dot{q}_1^2 \nonumber \\&+\;c_4g\cos (q_1)(c_2+c_3\cos (q_2))\nonumber \\&-\;c_5g\cos (q_1+q_2)(c_1+c_3\cos (q_2))\nonumber \\&+\; \tau (c_1+c_2+2c_3\cos (q_2)) \Big ) \, , \end{aligned}$$, $$\begin{aligned} \ddot{q}_1= & {} \frac{1}{d} \Big ( c_2c_3\sin (q_2)(\dot{q}_1+\dot{q}_2)^2 + c_3^2 \sin (q_2)\cos (q_2)\dot{q}_1^2 \nonumber \\&-\;c_2c_4g\cos (q_1) - c_2c_5g\cos (q_1+q_2)\nonumber \\&-\;(c_2+c_3\cos (q_2)) \Big ( k_s(q_2^d-q_2) \nonumber \\&+\;k_p((c_1\,{+}\,c_2\,{+}\,2c_3\cos (q_2))\dot{q}_1 \,{+}\, (c_2\,{+}\,c_3\cos (q_2))\dot{q}_2) \nonumber \\&+\;k_{dd}g(c_4\sin (q_1)\dot{q}_1 + c_5\sin (q_1+q_2) (\dot{q}_1+\dot{q}_2)) \nonumber \\&-\; k_dg(c_4\cos (q_1)+c_5\cos (q_1+q_2)) \Big ) \Big ) , \end{aligned}$$, $$\begin{aligned} \ddot{q}_2= & {} \frac{1}{d} \Big ( -c_3\sin (q_2)(c_2+c_3\cos (q_2))(\dot{q}_1+\dot{q}_2)^2 \nonumber \\&-\;c_3\sin (q_2)(c_1+c_3\cos (q_2))\dot{q}_1^2 \nonumber \\&+\;g(c_2+c_3\cos (q_2))(c_4\cos (q_1)+c_5\cos (q_1+q_2)) \nonumber \\&+\;(c_1+c_2+2c_3\cos (q_2)) \Big ( k_s(q_2^d-q_2) \nonumber \\&+\;k_p((c_1\,{+}\,c_2\,{+}\,2c_3\cos (q_2))\dot{q}_1 \,{+}\, (c_2\,{+}\,c_3\cos (q_2))\dot{q}_2) \nonumber \\&+\;k_{dd}g(c_4\sin (q_1)\dot{q}_1 + c_5\sin (q_1+q_2) (\dot{q}_1+\dot{q}_2)) \nonumber \\&-\;k_dg(c_4\cos (q_1)+c_5\cos (q_1+q_2)) \Big ) \Big ) \, . Azad, M. (2014). This measure can be used both to analyse a robot’s performance and to design robot mechanisms for improved performance. C.A. http://www.segway.com, Accessed January 2015. Buffinton: Kaneʼs Method in Robotics.

C.S.G. Efficient Factorization of the Joint-Space Inertia Matrix for Branched Kinemati... An Empirical Study of the Joint Space Inertia Matrix. The goal of this chapter is to introduce the reader to the subject of robot dynamics and to provide the reader with a rich set of algorithms, in a compact form, that they may apply to their particular robot mechanism. S. McMillan, D.E. Auton Robot 40, 93–107 (2016). Sharing links are not available for this article.

Furthermore, cost savings of more than 50,000 arithmetic operations are obtained in the calculation of the inertia-weighted pseudoinverse of the task Jacobian and its null-space projection matrix. By continuing to browse

Paul: On-Line Computational Scheme for Mechanical Manipulators, Trans. Res. In: T.R. A robot mechanism is said to be closed loop if it includes one or more kinematic loops, which are cycles in the mechanism’s connectivity graph. Neutral balanced configurations are excluded because \(G_V\) as defined in Featherstone (2012) is not defined at such configurations. Ricker: Two Numerical Issues in Simulating Constrained Robot Dynamics, IEEE Trans. S. McMillan, D.E. C.S.G.
Stabilization of acrobot robot in upright position on a horizontal bar.
Neuman: Organizing Customized Robot Dynamic Algorithms for Efficient Numerical Evaluation, IEEE Trans. Res.

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This product could help you, Accessing resources off campus can be a challenge. K. Kreutz-Delgado, A. Jain, G. Rodriguez: Recursive Formulation of Operational Space Control, Proc. This process is experimental and the keywords may be updated as the learning algorithm improves. Create a link to share a read only version of this article with your colleagues and friends. In: J. Wittenburg, U. Wolz: Mesa Verde: A Symbolic Program for Nonlinear Articulated-Rigid-Body Dynamics. For more information view the SAGE Journals Sharing page. Grizzle, J. W., Moog, C. H., & Chevallereau, C. (2005). In: F.C. Res. Contact us if you experience any difficulty logging in. Mean Value Coordinates. Orin: Pipelined Approach to Inverse Plant Plus Jacobian Control of Robot Manipulators.

J. Click the button below for the full-text content, 24 hours online access to download content. J. Orin: Systolic Architectures for the Manipulator Inertia Matrix, IEEE Trans. In: W. Hu, D.W. Marhefka, D.E.

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Mean Value Coordinates. R. Featherstone: An Empirical Study of the Joint Space Inertia Matrix, Int.

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