Evaluation of Nonlinear Dynamics Using Optimal Motion PlanningSource: Journal of Dynamic Systems, Measurement, and Control:;2006:;volume( 128 ):;issue: 004::page 995Author:Przemysław Herman
DOI: 10.1115/1.2363203Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The precise control of a manipulator depends on its velocity as well as on its configuration and dynamic properties. This paper presents some observations that can serve as a useful tool for identifying nonlinear ear effects in a manipulator. The tool is based on equations of motion being expressed in terms of inertial quasi-velocities (IQVs). They are rates containing both kinematic and mechanical parameters of the system. The presented approach gives a further insight into the manipulator motion. An analytical example shows the proposed strategy.
keyword(s): Motion , Equations of motion , Manipulators , Path planning , Nonlinear dynamics AND Equations ,
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| contributor author | Przemysław Herman | |
| date accessioned | 2017-05-09T00:19:15Z | |
| date available | 2017-05-09T00:19:15Z | |
| date copyright | December, 2006 | |
| date issued | 2006 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26362#995_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/133359 | |
| description abstract | The precise control of a manipulator depends on its velocity as well as on its configuration and dynamic properties. This paper presents some observations that can serve as a useful tool for identifying nonlinear ear effects in a manipulator. The tool is based on equations of motion being expressed in terms of inertial quasi-velocities (IQVs). They are rates containing both kinematic and mechanical parameters of the system. The presented approach gives a further insight into the manipulator motion. An analytical example shows the proposed strategy. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Evaluation of Nonlinear Dynamics Using Optimal Motion Planning | |
| type | Journal Paper | |
| journal volume | 128 | |
| journal issue | 4 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2363203 | |
| journal fristpage | 995 | |
| journal lastpage | 998 | |
| identifier eissn | 1528-9028 | |
| keywords | Motion | |
| keywords | Equations of motion | |
| keywords | Manipulators | |
| keywords | Path planning | |
| keywords | Nonlinear dynamics AND Equations | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2006:;volume( 128 ):;issue: 004 | |
| contenttype | Fulltext |