NASA NTRS · 19920046660
Spatial operator approach to under-actuated manipulator kinematics and dynamics
Abstract
A study is made of the kinematics and dynamics of under-actuated manipulators. The presence of passive hinges causes the kinematics and dynamics of these manipulators to be considerably more complex when compared with fully actuated manipulators. Techniques from the spatial operator algebra are used to develop expressions for the generalized Jacobian, the mass matrix, and an efficient inverse dynamics computational algorithm.
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Jain, A., Rodriguez, G.. 1991-01-01. Spatial operator approach to under-actuated manipulator kinematics and dynamics. https://ntrs.nasa.gov/citations/19920046660
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