RESEARCH PAPERS: Mechanisms Papers

On the Equations of Motion for Robot Arms and Open Kinematic Chains

[+] Author and Article Information
S. Gupta, M. A. Townsend

Department of Mechanical and Aerospace Engineering, University of Virginia, Charlottesville, Virginia 22901

J. Mech., Trans., and Automation 110(3), 287-294 (Sep 01, 1988) (8 pages) doi:10.1115/1.3267460 History: Received May 01, 1988; Online November 19, 2009


The closed-form equations of motion for robot arms and other open kinematic chains are derived using the Newton-Euler equations in a form particularly suitable for the automatic modeling and on-line control of such mechanisms. The approach is based on Vukobratovic’s method [3], using more conventional Western notation.

Copyright © 1988 by ASME
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