Linearity of Multibody Systems with Respect to Barycentric Parameters: Dynamics and Identification Models Obtained by Symbolic Generation
| Autor: | Pierre Y. Willems, Pascal Maes, Jean-Claude Samin |
|---|---|
| Rok vydání: | 1989 |
| Předmět: |
business.industry
Dynamics (mechanics) General Engineering Equations of motion Linearity Robotics Barycentric coordinate system Multibody system Identification (information) Control theory ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION Artificial intelligence Manipulator business Mathematics |
| Zdroj: | Mechanics of Structures and Machines. 17:219-237 |
| ISSN: | 0890-5452 |
| Popis: | The aim of the paper is to produce the equations of motion of a multibody system in symbolic form. The formulation permits emphasis of the linearity of the equation with respect to barycentric parameters. Dynamic and identification models for manipulators are derived in an easy-to-read symbolic form by use of the ROBOTRAN program, which is also described. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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