The motions of mechanisms can be described in terms of screw coordinates by means of an
exponential map**. The product of exponentials (POE) describes the configuration of a …

We provide a tutorial and review of the state-of-the-art in robot dynamics algorithms that rely
on methods from differential geometry, particularly the theory of Lie groups. After reviewing …

Abstract Design issues, dynamic modeling, trajectory planning, and feedback control
problems are presented for robot manipulators having components with mechanical …

This paper presents the dynamic model and analytical modal analysis for robotic
manipulators with rigid links and flexible joints. Dynamic equations of general robots with …

Screw and Lie group theory allows for user-friendly modeling of multibody systems (MBS),
and at the same they give rise to computationally efficient recursive algorithms. The inherent …

This article proposes a novel scheme—based on power-sha** control (PSC)—that can
endow flexible-joint robots with both tracking, and interactional, capabilities. In virtue of …

Robotic manipulators provide advantages in working environments regarding efficiency and
safety, which is further increased in the case of elastic joint manipulators, whose mechanical …

We develop a recursive numerical algorithm to compute the inverse dynamics of robot
manipulators with an arbitrary number of joints, driven by variable stiffness actuation (VSA) …

Abstract Multi-degree-of-freedom (Multi-DOF) manipulators have shown a high potential for
enhancing the flexibility and performance of robotic manipulations. However, the presence …

We consider the problem of extracting a complete set of numerical parameters that
characterize the robot dynamics, starting from the identified values of dynamic coefficients …