NASA NTRS · 19920000250
Recursive Algorithms For Dynamics Of Geared Robots
Abstract
Improved recursive algorithms compute dynamics of robotic manipulator driven through gears by motors located away from joints. Rotation of each link of manipulator arm about joint at inboard end driven by motor and gears mounted on adjacent inboard link. Inertias of motors and gears taken into account.
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Jain, Abhinandan, Rodriguez, Guillermo. 1992-04-01. Recursive Algorithms For Dynamics Of Geared Robots. https://ntrs.nasa.gov/citations/19920000250
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