Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: Robot dynamics models in terms of generalized and quasi-coordinates: A comparison
Contributor:
Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Subtitle:
Mathematical Methods in Robotics
Group publication title:
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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 5, number 2 (1995) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1995)
Last modified:
Jul 14, 2025
In our library since:
Sep 21, 2020
Number of object content hits:
106
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64259
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| Edition name | Date |
|---|---|
| Robot dynamics models in terms of generalized and quasi-coordinates: A comparison | Jul 14, 2025 |
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