| Titre : |
Dynamic analysis of robot manipulators : a cartesian tensor approach |
| Type de document : |
texte imprimé |
| Auteurs : |
Constantinos A. Balafoutis, Auteur ; Rajnikant V. Patel, Auteur |
| Editeur : |
Boston : Kluwer academic publishers |
| Année de publication : |
1991 |
| Collection : |
The kluwer international series in engineering and computer science |
| Sous-collection : |
Robotics: vision, manipulation and sensors num. 131 |
| Importance : |
XII-292 p. |
| Présentation : |
ill. |
| Format : |
24 cm |
| ISBN/ISSN/EAN : |
978-0-7923-9145-6 |
| Note générale : |
Bibliogr. p. 247-249. Index |
| Langues : |
Anglais (eng) |
| Mots-clés : |
Manipulateurs (mécanismes)
Robotique |
| Index. décimale : |
681.5 Technologie de la commande automatique. Technologie intelligence. systèmes de contrôle. Automation |
| 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. |
Dynamic analysis of robot manipulators (1991)
