Titre :	Efficient dynamic simulation of robotic mechanisms
Type de document :	texte imprimé
Auteurs :	Kathryn W. Lilly, Auteur
Editeur :	Boston : Kluwer academic publishers
Année de publication :	1993
Collection :	The kluwer international series in engineering and computer science
Sous-collection :	Robotics: vision, manipulation and sensors num. 203
Importance :	136 p.
Présentation :	ill.
Format :	24 cm
ISBN/ISSN/EAN :	978-0-7923-9286-6
Note générale :	Bibliogr. p. 129-132. Index
Langues :	Anglais (eng)
Mots-clés :	Robots -- Dynamics -- Mathematical models Robots -- Computer simulation Commande automatique Robots industriels
Index. décimale :	62-52 Machine et processus conduits ou contrôlés automatiquement
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.

Efficient dynamic simulation of robotic mechanisms [texte imprimé] / Kathryn W. Lilly, Auteur . - Boston : Kluwer academic publishers, 1993 . - 136 p. : ill. ; 24 cm. - (The kluwer international series in engineering and computer science. Robotics: vision, manipulation and sensors; 203) .
ISBN : 978-0-7923-9286-6
Bibliogr. p. 129-132. Index
Langues : Anglais (eng)

Mots-clés :	Robots -- Dynamics -- Mathematical models Robots -- Computer simulation Commande automatique Robots industriels
Index. décimale :	62-52 Machine et processus conduits ou contrôlés automatiquement
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.