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.
Computational Simplification of Robot-Arm Dynamics
NASA Tech Briefs ; 9 , 3
1986-01-01
Sonstige
Keine Angabe
Englisch
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