Part of the The Springer International Series in Engineering and Computer Science book series (SECS, volume 22)
Coordinate Systems and Efficiency
In Chapters 4 to 7 we concentrated on obtaining mathematical formulations for the dynamics algorithms. Implementation details were not considered. The equations which were developed describe in broad terms the computations required to calculate the dynamics on a computer, but the equations by themselves do not constitute complete descriptions of the various algorithms. In particular, three questions have been left unresolved:
where to put the link coordinate frames,
how to calculate the link-to-link coordinate transformations, and
how to implement the operations of spatial arithmetic.
KeywordsCoordinate Frame Computational Requirement Spherical Joint Dynamic Algorithm Joint Variable
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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© Springer Science+Business Media New York 1987