Abstract This paper presents the use of recursive Newton-Euler formulation to model different types of robots. The main advantages of this technique are the facility of implementation and obtaining models with reduced number of operations. The following structures are treated: rigid tree structure robots, closed loop robots, parallel robots, robots with lumped elasticity, robots with moving base and wheeled robots.
Dynamic Modeling of Robots Using Newton-Euler Formulation
2011-01-01
18 pages
Article/Chapter (Book)
Electronic Resource
English
Dynamic Modeling of Robots Using Newton-Euler Formulation
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