Abstract
This book is concerned with mathematical formulations of the dynamics of robot mechanisms which produce efficient algorithms when implemented on a computer. A robot mechanism is assumed to be a system of rigid bodies connected by ideal joints and powered by ideal force generators. In the sense that a robot mechanism is a rigid-body system, the algorithms described here for robot dynamics are also algorithms for the dynamics of certain classes of rigid-body system.
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© 1987 Springer Science+Business Media NewYork
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Featherstone, R. (1987). Introduction. In: Robot Dynamics Algorithms. The Springer International Series in Engineering and Computer Science, vol 22. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-74315-8_1
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DOI: https://doi.org/10.1007/978-0-387-74315-8_1
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4757-6437-6
Online ISBN: 978-0-387-74315-8
eBook Packages: Springer Book Archive