Titlebook: Efficient Dynamic Simulation of Robotic Mechanisms; Kathryn W. Lilly Book 1993 Springer Science+Business Media New York 1993 algorithms.co

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Efficient Dynamic Simulation of Robotic Mechanisms978-1-4615-3124-1Series ISSN 0893-3405

植物学

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objection

,Der buchhändlerische Warenvertrieb,atial vector of forces and moments exerted at the tip or end effector and the spatial acceleration of this same point. Matrix or vector quantities which are defined with respect to the end effector are often said to be in “workspace” or “operational space” coordinates. Hence, A is called the operational space inertia matrix of a manipulator.

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e member. Naturally, the real-time dynamic simulation of these mechanisms is even more difficult than for a single closed chain. Fortunately, it is possible to extend many of the concepts used in solving the single closed chain simulation problem to this more complex case.

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Alternate Formulations for the Operational Space Inertia Matrix,atial vector of forces and moments exerted at the tip or end effector and the spatial acceleration of this same point. Matrix or vector quantities which are defined with respect to the end effector are often said to be in “workspace” or “operational space” coordinates. Hence, A is called the operational space inertia matrix of a manipulator.

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Struktur und Willensbildung der Fraktionen,e exploration efforts and in future plans for space station operation. In many of these applications, the tip of the manipulator comes in contact with various objects in its environment, instantaneously creating a closed-chain configuration.

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Book 1993stems. 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 s