Applied Mathematics and Mechanics (English Edition) ›› 2000, Vol. 21 ›› Issue (1): 73-78.

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THE ADDENDUM FOR THE GENERALIZED D’ALEMBERT EQUATIONS OF MOTION

Zhang Dingguo   

  1. Science School, Nanjing University of Science and Technology, Nanjing 210094, P R China
  • Received:1998-07-15 Revised:1999-07-07 Online:2000-01-18 Published:2000-01-18
  • Supported by:

    the National Natural Science Foundation of China(19702006)

Abstract: In this paper, the traditional generalized d’Alembert equations of motion (GD) in the field of robot dynamics are extended to the circumstances as follows: 1 Considering the robots not only with rotary joints but also with translational joints. 2 Extending the application range of the GD dynamic equations from the simple chained robots to the tree_structured robots.

Key words: robot, dynamics, generalized d’Alembert equations

2010 MSC Number: 

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