| contributor author | Haruhiko Asada | |
| date accessioned | 2017-05-08T23:15:06Z | |
| date available | 2017-05-08T23:15:06Z | |
| date copyright | September, 1983 | |
| date issued | 1983 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26078#131_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/96851 | |
| description abstract | A new approach to the geometrical representation of manipulator dynamics is presented. The inertia ellipsoid, which is used to represent dynamic characteristics of a single rigid body, is extended to a general ellipsoid for a series of rigid bodies in order to represent the manipulator dynamics. The geometrical configuration of the generalized inertia ellipsoid (GIE) represents the characteristics of the manipulator as a whole. One can understand the complicated inertial effect and nonlinearity of multi-degree-of-freedom motion by simply investigating the GIE configuration. In the latter half of the paper, this method is applied to aid the design of a mechanical arm, in which dimensions of an arm structure and its mass distribution are optimized through the evaluation and graphical representation of the arm dynamics. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design | |
| type | Journal Paper | |
| journal volume | 105 | |
| journal issue | 3 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.3140644 | |
| journal fristpage | 131 | |
| journal lastpage | 142 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1983:;volume( 105 ):;issue: 003 | |
| contenttype | Fulltext | |
