Bibliography

[1]   Jack C. K. Chou, “Quaternion kinematic and dynamic differential equations”, IEEE Trans. of Robotics and Automation, vol. 1, no. 8, pp. 53–64, Feb. 1992.

[2]   M. Lillholm E.B. Dam, M. Koch and, “Quaternions, interpolation and animation”, Tech. Rep. DIKU-TR-98/5, University of Copenhagen, July 1998.

[3]   J. Denavit and R. S. Hartenberg, “A kinematic notation for lower pair mechanisms based on matrices”, ASME Jour. of Applied Mechanics, pp. 215–221, June 1955.

[4]   J. J. Craig, Introduction to Robotics: Mechanics and Control, Addison-Wesley Publising Company, 2nd edition, 1989.

[5]   Bruce Eckel, C++ inside & out, Osborne, McGraw-Hill, 1993.

[6]   B. Gorla and M. Renaud, Modèles des robots manipulateurs, application à leur commande, Cepadues-éditions, Toulouse, mai 1984.

[7]   J. J. Uicker, “Dynamic force analysis of spatial linkages”, ASME Jour. of Applied Mechanics, vol. 34, pp. 418–424, June 1967.

[8]   K. S. Fu, R. C. Gonzalez, and C. S. G. Lee, Robotics: Control, Sensing, Vision, and Intelligence, McGraw-Hill, New York, 1987.

[9]   Jorge Angeles, Fundamentals of Robotic Mechanical Systems: Theory, Methods and Algorithms, Mechanical Engineering Series. Springer-Verlag, 1997.

[10]   S. Chiaverini, B. Siciliano, and O. Egeland, “Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator”, IEEE Trans. on Control Systems Technology, vol. 2, no. 2, pp. 123–134, June 1994.

[11]   M. W. Walker and D. E. Orin, “Efficient dynamic computer simulation of robotic mechanisms”, ASME Jour. of Dynamic Systems, Measurement, and Control, vol. 104, pp. 205–211, 1982.

[12]   J. Y. S. Luh, M. W. Walker, and R. P. C. Paul, “On-line computational scheme for mechanical manipulators”, ASME Jour. of Dynamic Systems, Measurement, and Control, vol. 102, pp. 69–76, June 1980.

[13]   J. J. Murray and C. P. Neuman, “Linearization and sensitivity models of the Newton-Euler dynamic robot model”, ASME Jour. of Dynamic Systems, Measurement, and Control, vol. 108, pp. 272–276, Sept. 1986.

[14]   S. Chiaverini and B. Siciliano, “The unit quaternion: A useful tool for inverse kinematics of robot manipulators”, Systems Analysis, Modeling and Simulation, vol. 35, pp. 45–60, 1999.

[15]   F. Caccavale, C. Natale, B. Siciliano, and L. Villani, “Resolved-acceleration control of robot manipulators: A critical review with experiments”, Robotica, vol. 16, pp. 565–573, 1998.

[16]   F. Caccavale and B. Siciliano, “Six-dof impedance control based on angle/axis representations”, IEEE Trans. of Robotics and Automation, vol. 15, pp. 289–300, 1999.

[17]   K. Harib and K. Srinivasan, “Kinematic and dynamic analysis of Stewart platform-based machine tool structures”, Robotica, vol. 21, pp. 541–554, 2003.

[18]   William H. Press, Brian P. Flannery, Saul A. Teukolsky, and William T. Vetterling, Numerical Recipes in C, The Art of Scientific Computing, Cambridge University Press, 1988.

[19]   Richard Gourdeau, “Object oriented programming for robotic manipulators simulation”, IEEE Robotics and Automation Magazine, vol. 4, no. 3, pp. 21–29, Sept. 1997.