| 书目名称 | Efficient Dynamic Simulation of Robotic Mechanisms | | 编辑 | Kathryn W. Lilly | | 视频video | | | 丛书名称 | The Springer International Series in Engineering and Computer Science | | 图书封面 |  | | 描述 | .Efficient Dynamic Simulation of Robotic Mechanisms.presents computationally efficient algorithms for the dynamicsimulation of closed-chain robotic systems. In particular, thesimulation of single closed chains and simple closed-chain mechanismsis investigated in detail. Single closed chains are common in manyapplications, including industrial assembly operations, hazardousremediation, and space exploration. Simple closed-chain mechanismsinclude such familiar configurations as multiple manipulators moving acommon load, dexterous hands, and multi-legged vehicles. The efficientdynamics simulation of these systems is often required for testing anadvanced control scheme prior to its implementation, to aid a humanoperator during remote teleoperation, or to improve systemperformance. .In conjunction with the dynamic simulation algorithms, efficientalgorithms are also derived for the computation of the joint space andoperational space inertia matrices of a manipulator. The manipulatorinertia matrix is a significant component of any robot dynamicsformulation and plays an important role in both simulation andcontrol. The efficient computation of the inertia matrix is highlydesirable for real | | 出版日期 | Book 1993 | | 关键词 | algorithms; complexity; control; mathematics; modeling; multibody dynamics; robot; robotics; simulation; spac | | 版次 | 1 | | doi | https://doi.org/10.1007/978-1-4615-3124-1 | | isbn_softcover | 978-1-4613-6367-5 | | isbn_ebook | 978-1-4615-3124-1Series ISSN 0893-3405 | | issn_series | 0893-3405 | | copyright | Springer Science+Business Media New York 1993 |
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发表于 2025-3-21 19:32:00
