Dynamic Equations of General Robots Using Kane’s Method
This paper presents a method for deriving and solving mathematical models for robot dynamics using Kane’s method. The advantages of the procedure that uses Newton’s laws are preserved in this kinematic analysis method. These dynamic equations can be used to solve the direct and inverse problems of robot dynamics and can be readily converted into computer codes for numerical calculation.
KeywordsDynamic Equation Inertial Moment Rotational Joint Robot Dynamic Partial Velocity
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