APPLICATION OF RECURSIVE GIBBS-APPELL FORMULATION IN DERIVING THE MOTION EQUATION OF REVOLUTE-PRISMATIC JOINTS

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

KORAYEM M.H.; SHAFEI A.M.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2012 | Volume:12 | Issue:3 Page(s): 1-10

Download Full-Text

Persian Verion

View:

1,205

Download:

Cites:

Information Journal Paper

Title

APPLICATION OF RECURSIVE GIBBS-APPELL FORMULATION IN DERIVING THE MOTION EQUATION OF REVOLUTE-PRISMATIC JOINTS

Author(s)

KORAYEM M.H. | SHAFEI A.M. | Issue Writer Certificate

Keywords

ROBOT. GIBBS-APPELLQ2

RECURSIVEQ2

REVOLUTE-PRISMATICQ2

Abstract

In this paper a new systematic method for deriving the equation of motion of n-rigid robotic manipulators with REVOLUTE-PRISMATIC joints is considered. The equation of motion for this robotic system is obtained based on Gibbs- Appell formulation. All the mathematical operations are done by only 3x3 and 3x1 matrices. Also, all dynamic characteristicsof a link are expressed in the same link local coordinate system. Based on the developed formulation, an algorithm is proposed that RECURSIVEly and systematically derives the equation of motion. Finally, a computational simulation for a manipulator with three REVOLUTE-PRISMATIC joints is presented to show the ability of this algorithm in deriving and solving high degree of freedom of robotic system.

Cites

No record.

References

No record.

Cite

APA: Copy

KORAYEM, M.H., & SHAFEI, A.M.. (2012). APPLICATION OF RECURSIVE GIBBS-APPELL FORMULATION IN DERIVING THE MOTION EQUATION OF REVOLUTE-PRISMATIC JOINTS. MODARES MECHANICAL ENGINEERING, 12(3), 1-10. SID. https://sid.ir/paper/177979/en

Vancouver: Copy

KORAYEM M.H., SHAFEI A.M.. APPLICATION OF RECURSIVE GIBBS-APPELL FORMULATION IN DERIVING THE MOTION EQUATION OF REVOLUTE-PRISMATIC JOINTS. MODARES MECHANICAL ENGINEERING[Internet]. 2012;12(3):1-10. Available from: https://sid.ir/paper/177979/en

IEEE: Copy

M.H. KORAYEM, and A.M. SHAFEI, “APPLICATION OF RECURSIVE GIBBS-APPELL FORMULATION IN DERIVING THE MOTION EQUATION OF REVOLUTE-PRISMATIC JOINTS,” MODARES MECHANICAL ENGINEERING, vol. 12, no. 3, pp. 1–10, 2012, [Online]. Available: https://sid.ir/paper/177979/en

Related Journal Papers