Computer-Aided Method for Closed-Form Dynamic Robot Model Construction
Part of the Communications and Control Engineering Series book series (CCE, volume 4)
A new method for modelling of robotic system will be presented in this chapter. In addition, some fundamental properties of dynamic model matrices will be proved.
KeywordsRecursive Relation Kinematic Chain Positive Definiteness Inertial Matrix Gravity Vector
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© Springer-Verlag, Berlin, Heidelberg 1985