Report presents two general methods for reducing mathematical complexities of state equations of robot-arm dynamics. Robot arms contain both rotary and linear joints. Both methods start with homogenous coordinates and Lagrangian formulation of mechanics briefly summarized in report. First method uses matrix-analysis techniques; second, vector-analysis techniques. Vector-analysis method includes new differential-vector representation of centripetal and Coriolis forces.


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    Titel :

    Computational Simplification of Robot-Arm Dynamics


    Beteiligte:
    Bejczy, A. K. (Autor:in) / Lee, S. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1986-01-01



    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch




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