A Geometrical Setting for the Newtonian
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Reuven Segev; Amit Ailon
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Article
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1986
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Elsevier Science
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English
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A geometrical setting for the Newtonian mechanics of mechanical manipulators is presented. The configuration space of the mechanical system is modelled by a d&erentiable manifold. The kinematics of the system is formulated on the tangent and double tangent bundles of the configuration space, andforc