DYNAMAN: A Tool for Manipulator Design and Analysis.
Krishnaprasad, Perinkulam S.
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This report describes a method to formulate the dynamic equations of a robot manipulator with N links and with either revolute or prismatic joints using a Newton-Euler formulation. A general- purpose tool for analysis and design of robot manipulators and related control problems is being developed in the form of a software package DYNAMAN using this method.