| 书目名称 | Robot Dynamics Algorithms | | 编辑 | Roy Featherstone | | 视频video | | | 丛书名称 | The Springer International Series in Engineering and Computer Science | | 图书封面 |  | | 描述 | The purpose of this book is to present computationally efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies. The efficiency is achieved by the use of recursive formulations of the equations of motion, i.e. formulations in which the equations of motion are expressed implicitly in terms of recurrence relations between the quantities describing the system. The use of recursive formulations in dynamics is fairly new, 50 the principles of their operation and reasons for their efficiency are explained. Three main algorithms are described: the recursIve Newton-Euler formulation for inverse dynamics (the calculation of the forces given the accelerations), and the composite-rigid-body and articulated-body methods for forward dynamics (the calculation of the accelerations given the forces). These algorithms are initially described in terms of an un-branched, open loop kinematic chain -- a typical serial robot mechanism. This is done to keep the descriptions of the algorithms simple, and is in line with descriptions appearing in the literature. Once the basic algorithms have been introduced, the restrictions on the mechanism are lifted | | 出版日期 | Book 1987 | | 关键词 | algorithms; computer; dynamics; efficiency; environment; iron; joints; kinematics; mechanism; mechanisms; robo | | 版次 | 1 | | doi | https://doi.org/10.1007/978-0-387-74315-8 | | isbn_softcover | 978-1-4757-6437-6 | | isbn_ebook | 978-0-387-74315-8Series ISSN 0893-3405 | | issn_series | 0893-3405 | | copyright | Springer Science+Business Media New York 1987 |
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发表于 2025-3-21 17:46:58
