ROBOT KINEMATICS AND DYNAMICS θ 1 x 0 y 0 x 1 y 1 Link 1 Joint 1 P Figure 2.1: A revolute joint. x 0 y 0 x 1 y 1 D Figure 2.2: Coordinate transformation consisting of a single translation along the x-axis. Of course, these equations can be generalized to express the position...
Yang, ChenguangMa, HongbinFu, MengyinSpringer SingaporeYang C, Ma H, Fu M. Robot Kinematics and Dynamics Modeling[M]// Advanced Technologies in Modern Robotic Applications. 2016.C. Yang, H. Ma, and M. Fu, "Robot kinematics and dynamics modeling," in Advanced Technologies in Modern Robotic ...
pseudoInverseMat(A,lambda) 获得A的Moore-Penrose pseudoinverse (Matlab自带命令:pinv(A)) q = inverseKinematics(I_r_IE_des, C_IE_des, q_0, tol) 用数值方法求解运动学逆解 function[ pinvA ]=pseudoInverseMat(A, lambda)% Input: Any m-by-n matrix, and a damping factor.% Output: An n-...
This paper put forward a systematic kinematics and dynamics analysis method based on virtual prototyping technology to simulate multi-body dynamics of robot arm. After the design requirements were introduced, the conceptual design of robot arm was then proposed, and the kinematics and dynamics analysis...
摘要: The robotic kinematics is essential for describing an end-effector's position, orientation as well as motion of all the joints, while dynamics modeling is crucial for analyzing and synthesizing the...DOI: 10.1007/978-981-10-0830-6_2 被引量: 9 ...
can be used in the fieId of sateIIite configuration redressing,space robot Ianding and manipuIator path pIanning,the computation exampIe testifying the vaIidity of the modeI . Key words:space robot;kinematics and dynamics;configuration;path Gao Haibo Lect . ;CoIIege of Mech. Sci . & Eng. ...
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It mainly focuses on the self-stabilisation problem encountered in a mono-wheel structure and shows the test rig results for this case. The design of the robot is under patent protection. Highlights ► Full mathematical description of the mono-wheel robot kinematics and dynamics. ► Complete ...
In this paper, introduced simply its body design and different locomotion modes, particularly, kinematics and dynamics modeling of MOBIT with tracked mode are derived. Unlike other robot operating on a flat surface, the proposed equations can supply a theoretic base of farther study for MOBIT such...
Kinematics and dynamics of planar 3-RRR parallel robots are presented. Firstly, kinematic equations of planar 3-RRR parallel robots are given. Then, dynami... QH Zhang,XM Zhang - 《Applied Mechanics & Materials》 被引量: 3发表: 2012年 Dynamics analysis of leg mechanism of six-legged firefigh...