Titlebook: Vehicle-Manipulator Systems; Modeling for Simulat P?l Johan From,Jan Tommy Gravdahl,Kristin Yttersta Book 2014 Springer-Verlag London 2014

Pandemic

有其法作用

P?l Johan From,Jan Tommy Gravdahl,Kristin Ytterstad Pettersen During the movement of one joint (until it reaches its desired position) the rest of the joints are kept locked (i.e. they are fixed). The local servos, synthesized in Chapter 3, satisfy such robotic tasks which require the successive movements of the robot joints.

SOBER

Introduction,actory floor and into unstructured and possibly hostile plants at distant locations. Vehicle-manipulator systems are composed of two parts: the vehicle brings mobility and locomotion capabilities which allow the system to reach distant areas, while the manipulator arm allows for complex manipulation

缺乏

詼諧

Rigid Body Kinematics,n of reference frames and associate each reference frame with a rigid body. We thus achieve a mathematical framework for describing how rigid bodies move with respect to each other and with respect to the inertial reference frame..Single rigid body motion serves as the basis for multibody motion. In

inundate

Kinematics of Manipulators on a Fixed Base,ve rigid bodies is restricted by the admissible motions of the joints, often to a very simple one degree of freedom linear or rotational motion. The main objective of the kinematics study is to find the position and velocity of the last link given the position and velocity of each joint in the robot

genuine

DENT

Rigid Body Dynamics,mic equations for rigid bodies with the results obtained in the previous chapters on rigid body kinematics as a starting point. In this way we obtain a well-defined formulation of the dynamics without singularities and other artifacts. The formulation can be used to derive the dynamics of bodies wit

低三下四之人

知識(shí)分子

Dynamics of Vehicle-Manipulator Systems,of the vehicle and the manipulator are different in nature we need to use the well-defined formulation of the state space presented in the previous chapters to obtain a singularity-free set of dynamic equations. The configuration space of the manipulator is Euclidean, so standard formulations of Lag