The inverse and forward dynamics problems for multilink serial manipulators are solved by
using recursive techniques from linear filtering and smoothing theory. The pivotal step is to …

A decomposition of the manipulator inertia matrix is essential, for example, in forward
dynamics, where the joint accelerations are solved from the dynamical equations of motion …

This article addresses the following inverse kinematics problem: given an untimed spatial
end-effector trajectory, determine joint trajectories that are consistent with its execution. An …

An industrial robot today uses measurements of its joint positions and models of its
kinematics and dynamics to estimate and control its end-effector position. Substantially …

This paper presents a new optimal filtering algorithm, called the optimal arbitrary time-delay
filter that has been designed to minimize the elastic behavior in serial link manipulators …

In this paper, we present an algorithm and implementation for efficient inverse kinematics for
a general six-revolute (6R) manipulator. When stated mathematically, the problem reduces …

The enhancement of robot dynamic performance can be aided by high-speed and, in some
cases, low-accuracy calculation of matrices and their inverses. Analog techniques for the …

Recursive forward dynamics algorithms are developed for an arbitrary number of robot arms
moving a commonly held object. The multiarm forward dynamics problem is to find the …

The authors discuss a general and systematic computational scheme of the inverse
dynamics of closed-link mechanisms. It is derived by using d'Alembert's principle and …

Inverse Kinematics has been recognized as an important problem in robotics applications. A
robot independent solution can only be obtained through numerical methods, but most …