New Jacobian Matrix and Equations of Motion for a 6 DOF Cable-driven Robot
In this paper, we introduce a new method and new motion variables to study kinematics and dynamics of a 6 d.o.f cabledriven robot. Using these new variables and Lagrange equations, we achieve new equations of motion which are different in appearance and several aspects from conventional equations us...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/new_jacobian_matrix_and_equations_of_motion_for_a_6_dof_cable-driven_robot |