Note
College of Engineering and Computer Science
Member of
Contributors
Publisher
Florida Atlantic University
Date Issued
1985
Description
The concept of "generalized manipulator" is introduced, and
the closed form and recursive form dynamical models of the
generalized manipulator are presented in Newton-Euler
formulation. The physical meaning of each term in the
dynamical model is explained.
The dynamical models formulated by the Newton-Euler method
and the Lagrangian-Euler method are proved equivalent. The
dynamical model of the generalized manipulator is reduced to
ordinary manipulators. The reduced dynamical model is shown
identical to existing models. Furthermore, the reduced
dynamical model of the generalized manipulator can be used
to compute forces and torques components along any
direction.
Application of the model to problems of mobile robots and
flexible manipulators is shown.
the closed form and recursive form dynamical models of the
generalized manipulator are presented in Newton-Euler
formulation. The physical meaning of each term in the
dynamical model is explained.
The dynamical models formulated by the Newton-Euler method
and the Lagrangian-Euler method are proved equivalent. The
dynamical model of the generalized manipulator is reduced to
ordinary manipulators. The reduced dynamical model is shown
identical to existing models. Furthermore, the reduced
dynamical model of the generalized manipulator can be used
to compute forces and torques components along any
direction.
Application of the model to problems of mobile robots and
flexible manipulators is shown.
Language
Type
Form
Extent
184 p.
Subject (Topical)
Identifier
AAI1325181
Additional Information
College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 1985.
FAU Electronic Theses and Dissertations Collection
Date Backup
1985
Date Text
1985
Date Issued (EDTF)
1985
Extension
FAU
FAU
admin_unit="FAU01", ingest_id="ing1508", creator="staff:fcllz", creation_date="2007-07-19 02:19:22", modified_by="staff:fcllz", modification_date="2011-01-06 13:09:07"
IID
FADT14243
Issuance
monographic
Organizations
Attributed name: Florida Atlantic University
Attributed name: College of Engineering and Computer Science
Person Preferred Name
LAU, TO-CHOI.
Graduate College
Physical Description
184 p.
application/pdf
Title Plain
DYNAMICS OF THE GENERALIZED MANIPULATOR
Use and Reproduction
Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
http://rightsstatements.org/vocab/InC/1.0/
Origin Information
1985
monographic
Boca Raton, Fla.
Florida Atlantic University
Physical Location
Florida Atlantic University Libraries
Place
Boca Raton, Fla.
Sub Location
Digital Library
Title
DYNAMICS OF THE GENERALIZED MANIPULATOR
Other Title Info
THE
DYNAMICS OF THE GENERALIZED MANIPULATOR