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Recursive Dynamics for Fixed-Base Robotic Systems

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Dynamics of Tree-Type Robotic Systems

Part of the book series: Intelligent Systems, Control and Automation: Science and Engineering ((ISCA,volume 62))

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Abstract

In this chapter, dynamic analyses of fixed-base robotic systems are presented using the dynamic modeling presented in Chap. 5. For this, recursive inverse and forward dynamics algorithms are developed. The algorithms take care of the multiple-DOF joints in an efficient manner, as explained in Sect. 4.2.1; in contrast to treating them as a combination of several 1-DOF joints by taking into account the total number of links equal to number of 1-DOF joints or joint variables. In the presence of many multiple-DOF joints in a robotic system the latter approach is relatively inefficient due to the burden of unnecessary computations with zeros. The improvement in the computational efficiency in the presence of multiple-DOF joints are addressed in this chapter. Dynamic analyses, namely, the inverse and forward dynamics, of several systems are performed in this chapter.

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Authors and Affiliations

  1. McGill University, Montreal, Canada

    Dr. Suril Vijaykumar Shah (Postdoctoral Fellow)

  2. Department of Mechanical Engineering, IIT Delhi, New Delhi, India

    Dr. Subir Kumar Saha & Dr. Jayanta Kumar Dutt

Authors
  1. Dr. Suril Vijaykumar Shah
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  2. Dr. Subir Kumar Saha
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  3. Dr. Jayanta Kumar Dutt
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Shah, S.V., Saha, S.K., Dutt, J.K. (2013). Recursive Dynamics for Fixed-Base Robotic Systems. In: Dynamics of Tree-Type Robotic Systems. Intelligent Systems, Control and Automation: Science and Engineering, vol 62. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-5006-7_6

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  • DOI: https://doi.org/10.1007/978-94-007-5006-7_6

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-5005-0

  • Online ISBN: 978-94-007-5006-7

  • eBook Packages: EngineeringEngineering (R0)

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