Obiekt
Tytuł: Robot dynamics models in terms of generalized and quasi-coordinates: A comparison
Współtwórca:
Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Podtytuł:
Mathematical Methods in Robotics
Tytuł publikacji grupowej:
Abstract:
Lagrangian robot dynamics derived by making use of the generalized and quasi-coordinates is discussed. A comparison between two sets of equations is presented, which is motivated by recently developed (Jain and Rodriguez, 1994) diagonalized equations of motion for multibody open kinematic chains with N degrees of freedom. These equations are derived by making use of new joint velocity variables vi which can be viewed as time derivatives of the Lagrangian 'quasi-coordinates, similar to those in classical mechanics. ; Several remarks, which simplify the derivation of the new set of equations are presented. Next, physical interpretation of both sets of equations is widely discussed. A detailed computational complexity analysis of the standard and diagonalized Lagrangian robot dynamics algorithms is presented in the paper. The results have been compared with those existing in the literature on robotics.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Identyfikator zasobu:
Strony:
Źródło:
AMCS, volume 5, number 2 (1995) ; kliknij tutaj, żeby przejść
Jezyk:
Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Repozytorium > Typy utworów > Artykuły
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS)
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1995)
Data ostatniej modyfikacji:
2024-11-07
Data dodania obiektu:
2020-09-21
Liczba wyświetleń treści obiektu:
51
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/repozytorium/publication/64259
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5, number 1 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5, number 2 (1995)
- Finite element dynamic model of multilink flexible manipulators
- Smooth feedback posture stabilization of a class of mobile robots
- Redundancy resolution of manipulator by global optimization
- Kinematics of path tracking at singularities of the planar 2R manipulator
- Robot dynamics models in terms of generalized and quasi-coordinates: A comparison
- On tracking control of rigid and flexible joint robots
- On the existence of an optimally failure tolerant 7R manipulator Jacobian
- Non-linear robot control: Method of exact linearization and decoupling by state feedback and alternative control design methods
- Lyapunov control in robotic systems: Tracking regular and chaotic dynamics
- Normal forms of kinematic singularities of 3R robot manipulators
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5, number 3 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5, number 4 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5, number 1 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
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International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Nazwa wydania | Data |
|---|---|
| Robot dynamics models in terms of generalized and quasi-coordinates: A comparison | 2024-11-07 |
