Titlebook: Computational Kinematics; Jorge Angeles,Günter Hommel,Peter Kovács Book 1993 Springer Science+Business Media Dordrecht 1993 Rigid body.alg

Virtues

Elemente der Strukturbildung und Entwicklungre derived. The derived kinematic representations include the inverse kinematics, the Jacobian and its time-derivative, which are needed to convert a task space trajectory to the joint level. Two Newton-Euler based recursive multibody dynamics algorithms are also programmed symbolically; one for the

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占线

https://doi.org/10.1007/978-3-662-48268-1 such direct extension exists however, for dynamics. Inertia binor is used to obtain the dual momentum, from which the dual equations of motion are derived. This derivation raises the dual dynamic equations to six dimensions, and in fact, it does not act on the dual vector as a whole, but rather on

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https://doi.org/10.1007/978-3-658-26331-7Several methods to solve sets of nonlinear equations are discussed. Then a modification of dialytic elimination is described, and two methods for obtaining new linearly independent equations are presented. Finally, one of the methods is applied to three quadratics and is shown to yield all of the solutions, without any extraneous roots.

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https://doi.org/10.1007/978-3-8348-8162-5We closely reconsider the mathematical tools needed for the solution of the inverse kinematics problem for 6. series manipulators by resultant methods. We discuss the reduction of the original problem, the homogenization of the reduced equations, and several approaches for the application of resultant methods.