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Application of spinor method to the dynamic analysis of robot

✍ Scribed by Lin Ruilin; Jiang Shaoyin; Lin bi

Publisher
Springer
Year
1996
Tongue
English
Weight
346 KB
Volume
17
Category
Article
ISSN
0253-4827

No coin nor oath required. For personal study only.

✦ Synopsis

A method known as spinor method is applied to the stud>, of <~~narnic model of robot. It merges velocity and angular velocity. Force and moments into an organic whole by their internal relation; and makes Newton-Euler method more concise and " efficient. A reference system is formed with respect to tJ;e mass center of the arms of robot, which simplifies the calculation of inertial tensor and,mass center acceleration.

And further reduces work load in ca(culation, and thus ensures a fast real-time calculation.

πŸ“œ SIMILAR VOLUMES

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In this paper, we investigate the use of the dynamic programming approach in the solution of the optimal path timing problem in robotics. This problem is computationally feasible because the path constraint reduces the dimension of the state in the problem to two. The Hamilton-Jacobi-Bellman equatio