Systematic dynamic modelling of mechanical systems containing kinematic loops

References

• Baumgarte , J. 1972 . Stabilization of constraints and integrals of motion . Computer Methods in Applied Mechanics and Engineering , 1 : 1 – 16 .
   Google Scholar
• Bennis , F. and Khalil , W. 1991 . Minimum inertial parameters of robots with parallelogram closed loops . IEEE Transactions on System, Man and Cybernetics , 21 : 318 – 326 .
   Google Scholar
• Bennis , F. , Khalil , W. and Gautier , M. 1992 . Calculation of the base inertial parameters of robots with parallelogram closed loops . IEEE Conference on Robotics and Automation , 21 : 370 – 375 . Nice
   Google Scholar
• Blajer , W. , Schielen , W. and Schirm , W. 1994 . A projective criterion to the coordinate partitioning method for multibody dynamics . Archive of Applied Mechanics , 64 : 86 – 98 .
   Google Scholar
• Brandl , H. , Johanni , R. and Otter , M. 1988 . “ A very efficient algorithm for the simulation of robots ” . In Theory of Robots , Edited by: Kopacek , P. , Troch , I. and Desoyer , K. 95 – 100 . Oxford : Pergamon Press .
   Google Scholar
• Brenan , K. E. , Campbell , S. L. and Petzold , L. R. 1989 . “ Numerical solution of initial value problems in differential-algebraic equations ” . North-Holland : Elsevier Science Publishing .
   Google Scholar
• Chang , S. and Tsai , L. 1990 . Topological synthesis of articulated gear mechanisms . IEEE Transactions on Robotics and Automation , 6 : 97 – 103 .
   Google Scholar
• Denavit , J. and Hartenberg , R. S. 1955 . A kinematic notation for lower-pair mechanisms based on . ASME Journal of Applied Mechanics , 22 : 215 – 221 .
   Google Scholar
• Dombre , E. and Khalil , W. 1988 . “ Modélisation et commande des robots ” . Paris : Edition Hermes .
   Google Scholar
• Ellis , R. E. and Ricker , S. L. 1992 . Two Numerical Issues in Simulating Constrained Dynamics . IEEE Conference on Robotics and Automation , : 312 – 318 . Nice
   Google Scholar
• Featherstone , R. 1983 . The calculation of robot dynamics using articulated-body inertias . International Journal of Robotics Research , 2 : 13 – 30 .
   Web of Science ®Google Scholar
• Featherstone , R. 1987 . “ Robot dynamics algorithms ” . Kluwer : Academic Publishers .
   Google Scholar
• Ferretti , G. , Maffezzoni , C. , Magnani , G. and Rocco , P. 1994 . “ Simulating discontinuous phenomena affecting robot motion ” . 559 – 565 . Wien : MATHMOD .
   Google Scholar
• Ferretti G. Rocco P. Efficient dynamic modeling on manipulators containing closed kine-matic loops Politecnico di Milano, Dipartimento di Elettronica e Informazione 1992 Internal Report 92.083
   Google Scholar
• Gautier , M. and Khalil , W. 1988 . A direct determination of minimum inertial parameters of robots$title:IEEE Conference on Robotics and Automation . IEEE Conference on Robotics and Automation , : 1682 – 1687 . Philadelphia
   Google Scholar
• Haug , E. J. 1989 . “ Computer aided kinematics and dynamics of mechanical systems ” . Boston : Allyn and Bacon .
   Google Scholar
• Hollerbach , J. M. 1980 . A recursive Lagrangian formulation of manipulator dynamics and . ⌈£££ Transactions on System, Man and Cybernetics , 10 : 730 – 736 .
   Web of Science ®Google Scholar
• Kane , T. R. and Levinson , D. A. 1983 . The use of Kane's dynamical equations in robotics . Robotics Research , 2 : 3 – 21 .
   Web of Science ®Google Scholar
• Khalil , W. 1994 . “ A system for generating the symbolic models of robots ” . In IFAC Symposium on Robot Control$ed:4th , 4th Capri
   Google Scholar
• Khalil , W. and Kleinfinger , J. F. 1986 . A new geometric notation for open and closed loop robots . IEEE Conference on Robotics and Automation , : 1174 – 1179 . San Francisco
   Google Scholar
• Khalil , W. and Kleinfinger , J. F. 1987 . Minimum operations and minimum parameters of the dynamic model of tree structures robots . IEEE Journal of Robotics and Automation$vol:3 , 3 ( 6 ) : 517 – 526 .
   Web of Science ®Google Scholar
• Leu , M. C. and Hemati , H. 1986 . Automated symbolic derivation of dynamic equations of motion . ASME Journal of Dynamic Systems, Measurement and Control , 108 ( 6 ) : 172 – 179 .
   Google Scholar
• Luh , J. Y. S. , Paul , R. P. C. and Walker , M. W. 1980 . On-line computational scheme for mechanical manipulators . ASME Journal of Dynamic Systems, Measurement and Control , 102 ( 6 ) : 69 – 76 .
   Google Scholar
• Maffezzoni , C. , Girelli , R. and Lluka , P. 1994 . Object-oriented database support for modular modelling and simulation . Modelling and Simulation ESM 94 , 102 ( 6 ) : 354 – 361 . Barcellona
   Google Scholar
• Magnani , G. , Bologna , P. , Rizzi , G. and Lovati , G. 1988 . Modelling and simulation of an industrial robot . IEEE Conference on Robotics and Automation , 102 ( 6 ) : 1532 – 1538 . Philadelphia
   Google Scholar
• Mattsson , S. E. and Soderlind , G. 1993 . Index reduction in differential algebraic equations using dummy derivatives . SIAM Journal of Scientific Computing , 14 ( 6 ) : 677 – 692 .
   Google Scholar
• McMillan , S. and Orin , D. E. 1995 . Efficient computation of articulated-body inertias using succes- . ⌈EEE Transaction on Robotics and Automation , 11 ( 6 ) : 606 – 611 .
   Google Scholar
• Mechanical Dynamics, Inc An overview of how to use ADAMS, Version 6.0 1991
   Google Scholar
• Murphy , S. H. and Wen , J. T. 1993 . Analysis of active manipulator elements in space manipulation . IEEE Transaction on Robotics and Automation , 9 ( 6 ) : 544 – 552 .
   Google Scholar
• Murray , J. J. and Neumann , C. P. 1984 . ARM: An algebraic robot dynamic modelling program . IEEE Conference on Robotics and Automation , 9 ( 6 ) : 103 – 113 . Atlanta
   Google Scholar
• Petzold , L. R. 1983 . A description of DASSL: a Differential/Algebraic system solver . Scientific Computing , 9 ( 6 ) : 65 – 68 . North-Holland
   Google Scholar
• Sciavicco , L. , Siciliano , B. and Villani , L. 1994 . On dynamic modelling of gear-driven rigid robot manipulators . 4th IFAC Symposium on Robot Control , 9 ( 6 ) : 543 – 549 . Capri
   Google Scholar
• Sheth , P. N. and Uicker , J. J. 1971 . A generalized symbolic notation for mechanisms . ASME Journal of Engineering for Industry , 93 ( 6 ) : 102 – 112 .
   Google Scholar
• Sheth , P. N. and Uicker , J. J. 1972 . IMP (Integrated Mechanisms Program), a computer-aided design . ASME Journal of Engineering for Industry , 94 ( 6 ) : 454 – 464 .
   Google Scholar
• Simeon , B. , Fiihrer , C. and Rentrop , P. 1991 . Differential-algebraic equations in vehicle systems dynamics . Surveys on Mathematics for Industry , 94 ( 6 ) : 1 – 37 .
   Google Scholar
• Tsai , L. W. 1988 . The kinematics of spatial robotic bevel-gear trains . IEEE Journal of Robotics and Automation , 4 ( 6 ) : 150 – 156 .
   Google Scholar
• Uicker , J. J. 1969 . Dynamic behavior of spatial linkages, Part 1 -Exact equations of motion . ASME Journal of Engineering for Industry , 4 ( 6 ) : 251 – 258 .
   Google Scholar
• Vukobratović , M. , Kirćanski , N. , Timˇenko , A. and Kirćanski , M. 1989 . “ SYM - Program for ” . In Multibody Systems Handbook , Edited by: Schielen , W. Springer-Verlag .
   Google Scholar
• Walker , M. W. and Orin , D. E. 1982 . Efficient dynamic computer simulation of robotic mechanisms . ASME Journal of Dynamic Systems, Measurement and Control , 104 : 205 – 211 .
   Web of Science ®Google Scholar
• Wehage , R. A. and Haug , E. J. 1982 . Generalized coordinate partitioning for dimension reduction in . ASME Journal of Mechanical Design , 104 : 247 – 255 .
   Web of Science ®Google Scholar