Abstract
In this chapter we will be concerned with generalisations of the basic dynamics algorithms described in Chapters 4 to 6. The system model defined in Chapter 4 will be extended to allow the description of a wider class of robot mechanisms, and the dynamics algorithms will be modified accordingly. The material is organised into three topics:
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generalising the robot’s connectivity to allow branched kinematic chains,
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allowing screw joints and joints with more than one degree of freedom, and
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allowing the base member to move so that its acceleration is not known in advance.
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© 1987 Springer Science+Business Media New York
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Featherstone, R. (1987). Extending the Dynamics Algorithms. In: Robot Dynamics Algorithms. The Springer International Series in Engineering and Computer Science, vol 22. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-74315-8_7
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DOI: https://doi.org/10.1007/978-0-387-74315-8_7
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4757-6437-6
Online ISBN: 978-0-387-74315-8
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