The DOI matches its Crossref record.
Efficient Dynamic Computer Simulation of Robotic Mechanisms
Abstract
The Newton-Euler formulation of the equations of motion of an open-loop kinematic chain is used within a dynamic computer simulation of a robotic mechanism. Four different methods are presented for obtaining the joint variable accelerations given the joint positions, velocities, and input torques or forces. Each of these methods was programmed in FORTRAN and then executed on a CYBER 175 digital computer. This paper contains a comparison of the computational complexity of these methods and the execution time of the programs which implement them.
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Citations
Cited by
Rigid Body Dynamics Algorithms
Featherstone, R. (2008) · Springer eBooks · doi:10.1007/978-1-4899-7560-7 · Cited by 1,376
Task Space Regions: A framework for pose-constrained manipulation planning
Berenson, D., Srinivasa, S., & Kuffner, J. (2011) · The International Journal of Robotics Research · doi:10.1177/0278364910396389 · Cited by 368
Application of a General Learning Algorithm to the Control of Robotic Manipulators
Miller, W. T., Glanz, F. H., & Kraft, L. G. (1987) · The International Journal of Robotics Research · doi:10.1177/027836498700600207 · Cited by 373
Metadata
- Authors
- Walker, M. W., & Orin, D. E.
- Venue
- Journal of Dynamic Systems, Measurement, and Control
- Publisher
- ASME International
- Published
- 1982-09-01
- Volume
- 104
- Issue
- 3
- Pages
- 205-211
- ISSN
- 0022-0434 (ISSN-L)
- 1528-9028
- OpenAlex
- W2004609114
- Cited by
- 822
- References
- 0
- FWCI
- 34.54
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Efficient Dynamic Computer Simulation of Robotic Mechanisms. https://app.cochat.ai/papers/10.1115/1.3139699
- The paper
- Walker, M. W., & Orin, D. E. (1982). Efficient Dynamic Computer Simulation of Robotic Mechanisms. Journal of Dynamic Systems, Measurement, and Control. https://doi.org/10.1115/1.3139699
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
