| 書目名稱 | Dynamic Analysis of Robot Manipulators |
| 副標題 | A Cartesian Tensor A |
| 編輯 | C. A. Balafoutis,R. V. Patel |
| 視頻video | http://file.papertrans.cn/284/283509/283509.mp4 |
| 叢書名稱 | The Springer International Series in Engineering and Computer Science |
| 圖書封面 |  |
| 描述 | The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par- ticular, the following problems of rigid-link open-chain manipulator dynam- ics are considered : i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Com- putationally efficient solutions of these problems are prerequisites for real- time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational algorithms are based. In particular, it is shown in this monograph that by exploiting the relationships between second order Cartesian tensors and their vector invariants, a number of new tensor- vector identities can be obtained. These identities enrich the theory of Carte- sian tensors and allow us to manipulate complex Cartesian tensor equations effuctively. Moreover, based on these identities the classical vector descrip- tion for the Newton-Euler equations of rigid body motion are rewritten in an equivalent tensor formulation which is shown to have computational advan- tages over the classical ve |
| 出版日期 | Book 1991 |
| 關(guān)鍵詞 | algorithms; material; robot; simulation |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-1-4615-3952-0 |
| isbn_softcover | 978-1-4613-6764-2 |
| isbn_ebook | 978-1-4615-3952-0Series ISSN 0893-3405 |
| issn_series | 0893-3405 |
| copyright | Springer Science+Business Media New York 1991 |
|Archiver|手機版|小黑屋|
派博傳思國際
( 京公網(wǎng)安備110108008328)
GMT+8, 2026-1-27 23:51
發(fā)表于 2025-3-21 17:24:46
