Dynamics of Manipulators with Less Than One Degree of Freedom (opens in new tab)

Dynamics of Manipulators with Less Than One Degree of Freedom Hillis, D. We have developed an efficient Lagrangian formulation of manipulators with small numbers of degrees of freedom. The efficiency derives from the lack of velocities, accelerations, and generalized forces. The number of additions and multiplications remains constant, independent of the number of joints, as long as the number of joints remains less than one. While this is a restricted class of manipulators, we believe that i...