| Titre : | Efficient dynamic simulation of robotic mechanisms |
| Auteurs : | Kathryn W. Lilly, Auteur |
| Type de document : | texte imprimé |
| Editeur : | Boston : Kluwer academic publishers, 1993 |
| Collection : | The kluwer international series in engineering and computer science |
| Sous-collection : | Robotics: vision, manipulation and sensors, num. 203 |
| ISBN/ISSN/EAN : | 978-0-7923-9286-6 |
| Format : | 136 p. / ill. / 24 cm |
| Note générale : | Bibliogr. p. 129-132. Index |
| Langues : | Anglais |
| Index. décimale : | 62-52 (Machine et processus conduits ou contrôlés automatiquement) |
| Tags : | Robots -- Dynamics -- Mathematical models Robots -- Computer simulation Commande automatique Robots industriels |
| Résumé : | Presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems. This work investigates in particular, the simulation of single closed chains and simple closed-chain mechanisms. In addition to computational efficiency, it retains as much physical insight as possible during algorithm derivation. |
| Note de contenu : |
Contents:
* System Modeling and Notation. * Alternate Formulations for the Joint Inertia Matrix. * Alternate Formulations for the Operational Space Inertia Matrix. * Efficient Dynamic Simulation of a Single Closed Chain. * Efficient Dynamic Simulation of Simple Closed-Chain Mechanisms. |
Exemplaires (1)
| Cote | Support | Localisation | Section | Disponibilité | Etat_Exemplaire |
|---|---|---|---|---|---|
| 62-52 LIL | Papier | Bibliothèque Centrale | Automatique | Disponible |
