Abstract
First and foremost, the study of motions undergone by robotic mechanical systems or, for that matter, by mechanical systems at large, requires a suitable motion representation. Now, the motion of mechanical systems involves the motion of the particular links comprising those systems, which in this book are supposed to be rigid. The assumption of rigidity, although limited in scope, still covers a wide spectrum of applications, while providing insight into the motion of more complicated systems, such as those involving deformable bodies.
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© 2003 Springer-Verlag New York, Inc.
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(2003). Mathematical Background. In: Angeles, J. (eds) Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms. Mechanical Engineering Series. Springer, New York, NY. https://doi.org/10.1007/978-0-387-22458-9_2
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DOI: https://doi.org/10.1007/978-0-387-22458-9_2
Publisher Name: Springer, New York, NY
Print ISBN: 978-0-387-95368-7
Online ISBN: 978-0-387-22458-9
eBook Packages: Springer Book Archive