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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Der Deutsche Brückenbau im XIX. Jahrhunderte analysis of collision effects [43]. In addition to its use in control applications, the inertia matrix is an explicit and integral part of certain Direct Dynamics algorithms which are used to solve the simulation problem for manipulators and other multibody systems [2, 8, 31, 33, 42].

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System Modelling and Notation,he equations describing a physical system into a concise and elegant form. The physical relationships of the system are not changed, but the simplified format makes the corresponding equations easier to manipulate and often leads to gains in computational efficiency.

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Alternate Formulations for the Joint Space Inertia Matrix,e analysis of collision effects [43]. In addition to its use in control applications, the inertia matrix is an explicit and integral part of certain Direct Dynamics algorithms which are used to solve the simulation problem for manipulators and other multibody systems [2, 8, 31, 33, 42].

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System Modelling and Notation,amic relationships for robotic mechanisms. The assignment of coordinate frames is briefly discussed, and the kinematic and dynamic parameters of a robotic mechanism are defined. Two important modelling tools are also discussed in this chapter: (1) spatial notation, and (2) a general joint model. Spa

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Alternate Formulations for the Joint Space Inertia Matrix,ion vector. This relationship is of great importance both in real-time control and in the simulation of multibody systems. In the control realm, for example, the inertia matrix has been used to decouple robot dynamics so that control schemes may be more effectively applied [19]. This may be accompli

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Alternate Formulations for the Operational Space Inertia Matrix,ertain forces exerted on a manipulator and a corresponding acceleration vector. In the case of the joint space inertia matrix, H, the forces of interest are the actuator joint forces and torques, and the corresponding acceleration is the joint acceleration vector. On the other hand, A relates the sp

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