A Unified Dynamic Model Formulation for Robotic Manipulator Systems

Swain, Anjan Kumar; Morris, Alan S.*

dc.contributor.author	Swain, Anjan Kumar
dc.contributor.author	Morris, Alan S.*
dc.date.accessioned	2015-03-19T11:47:52Z
dc.date.available	2015-03-19T11:47:52Z
dc.date.issued	2003
dc.identifier.uri	http://hdl.handle.net/2259/277
dc.description	Journal of Robotic Systems 20(10), 1–0 (2003) © 2003 Wiley Periodicals, Inc. * External Authors.	en_US
dc.description.abstract	This paper addresses the problem of formulation of a unified dynamic model for sundry robotic manipulator systems derived from the first principle of mechanics instead of the existing formulation based on linear separability principle. It provides a systematic derivation, evaluation and subsequent conceptual interpretation of manipulator dynamics model. Further, it analyzes the generality of the unified model over a wide range of manipulator configurations. In addition, it describes the implementation aspects of the unified model.	en_US
dc.language.iso	en	en_US
dc.publisher	Journal of Robotic Systems: Wiley Periodicals	en_US
dc.subject	Robotic Manipulator Systems	en_US
dc.subject	Dynamic Model Formulation	en_US
dc.subject	manipulator dynamics Model	en_US
dc.title	A Unified Dynamic Model Formulation for Robotic Manipulator Systems	en_US
dc.type	Article	en_US