Considerate 发表于 2025-3-21 17:46:58

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HPA533 发表于 2025-3-22 00:00:06

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陶瓷 发表于 2025-3-22 04:03:54

,Inverse Dynamics — The Recursive Newton-Euler Method,ed to execute a proposed trajectory do not exceed the actuators’ limits , and recently discovered time-scaling properties of inverse dynamics have facilitated its use in planning minimum-time trajectories , . Inverse dynamics is also used as a building block for constructing forward dynamics algorithms (see Chapter 5).

harbinger 发表于 2025-3-22 07:34:38

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Toxoid-Vaccines 发表于 2025-3-22 12:09:57

Introduction,puter. A robot mechanism is assumed to be a system of rigid bodies connected by ideal joints and powered by ideal force generators. In the sense that a robot mechanism is a rigid-body system, the algorithms described here for robot dynamics are also algorithms for the dynamics of certain classes of

ALLEY 发表于 2025-3-22 16:22:20

Spatial Kinematics,ed in rigid-body dynamics. The usefulness of spatial vectors and related quantities lies in their power to simplify the description and analysis of rigid-body systems: a single spatial vector can hold the information which would otherwise need at least two 3-dimensional vectors, and a single spatial

resistant 发表于 2025-3-22 18:17:47

Spatial Dynamics,th the dynamic aspects — principally inertia. The spatial momentum of a rigid body is defined, then spatial rigid-body inertia is defined as a mapping between velocity and momentum, and its representation as a 6 × 6 matrix is deduced. The basic operations of transformation, differentiation and combi

BUDGE 发表于 2025-3-22 23:28:45

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乐器演奏者 发表于 2025-3-23 02:50:13

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散开 发表于 2025-3-23 08:40:14

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查看完整版本: Titlebook: Robot Dynamics Algorithms; Roy Featherstone Book 1987 Springer Science+Business Media New York 1987 algorithms.computer.dynamics.efficienc