A numeric-symbolic approach for kinematics and dynamics of robotic manipulators
| Autor: | Yong Chen, Li-Ju Xu, Shou-wen Fan |
|---|---|
| Rok vydání: | 1995 |
| Předmět: |
business.industry
Computer science Mechanical Engineering Dynamics (mechanics) Robot manipulator Bioengineering Kinematics Dynamic modelling Computer Science Applications Computer Science::Robotics Software Reaction Mechanics of Materials Control theory ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION business |
| Zdroj: | Mechanism and Machine Theory. 30:645-652 |
| ISSN: | 0094-114X |
| DOI: | 10.1016/0094-114x(94)00046-n |
| Popis: | A numeric-symbolic method for kinematics and dynamics of robotic manipulators is proposed in this paper. Numeric-symbolic expressions of first- and second-order influence coefficients are derived. Numeric-symbolic expressions of model matrices and reaction force in arbitrary joint are also derived. Corresponding software which can recognize and manipulate symbols is developed which can be used to generate first- and second-order influence coefficients and dynamic modelling automatically on the computer. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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