Contribution to Computer Construction of Active Chain Models Via Lagrangian Form

[+] Author and Article Information
M. Vukobratović

Institute for Automation and Telecommunications, Mihailo Pupin, P. O. Box 906, Belgrade, Yugoslavia

V. Potkonjak

Belgrade University, Belgrade, Yugoslavia

J. Appl. Mech 46(1), 181-185 (Mar 01, 1979) (5 pages) doi:10.1115/1.3424493 History: Received February 01, 1978; Revised July 01, 1978; Online July 12, 2010


Basic principles underlying the computer construction of the models of open kinematic chains using the recurrent relations from the rigid body kinematics are briefly presented in this paper. A new method for automatic setting of the aforementioned models via second-order Lagrange’s equations is presented. This method provides a realistic basis for the application of complete dynamic models to the real-time control of robots and manipulators.

Copyright © 1979 by ASME
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