| Titre : | Dynamic analysis of robot manipulators : a cartesian tensor approach |
| Auteurs : | Constantinos A. Balafoutis, Auteur ; Rajnikant V. Patel, Auteur |
| Type de document : | texte imprimé |
| Editeur : | Boston : Kluwer academic publishers, 1991 |
| Collection : | The kluwer international series in engineering and computer science |
| Sous-collection : | Robotics: vision, manipulation and sensors, num. 131 |
| ISBN/ISSN/EAN : | 978-0-7923-9145-6 |
| Format : | XII-292 p. / ill. / 24 cm |
| Note générale : | Bibliogr. p. 247-249. Index |
| Langues : | Anglais |
| Index. décimale : | 681.5 (Technologie de la commande automatique. Technologie intelligence. systèmes de contrôle. Automation) |
| Tags : | Manipulateurs (mécanismes) Robotique |
| Résumé : |
Dynamic analysis of robot manipulators: A crtesian tensor approach presents computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In particular, the following problems of rigid-link open-chain manipulator dynamics are considered:
* Computation of inverse dynamics. * Computation of forward dynamics. * Generation of linearized dynamics models. Computationally efficient solutions of these problems are prerequisites for real-time robot applications and simulations. |
| Note de contenu : |
Contents:
* Notation, Terminology and Background Material. * Cartesian Tensor Analysis. * Cartesian Tensors and Rigid Body Motion. * Manipulator Inverse Dynamics. * Manipulator Forward Dynamics. * Linearized Dynamic Robot Models. |
Exemplaires (1)
| Cote | Support | Localisation | Section | Disponibilité | Etat_Exemplaire |
|---|---|---|---|---|---|
| 681.5 BAL | Papier | Bibliothèque Centrale | Electronique | Disponible | En bon état |
