Communications and Control Engineering Series, Scientific Fundamentals of Robotics, 4.
CONTENTS NOTE
Text of Note
1 Survey of computer-aided robot modelling methods --;1.1. Introduction --;1.2. Methods based on Lagrange's equation --;1.3. Methods based on Newton-Euler's equations --;1.4. Methods based on Appel's equations --;1.5. Symbolic methods --;1.6. Numeric-symbolic method --;2 Computer-aided method for closed-form dynamic robot model construction --;2.1. Introduction --;2.2. Model based on Newton-Euler's equations --;2.3. Closed-form dynamic model --;2.4. Properties of dynamic model matrices: symmetry, positive definiteness and antisymmetry --;2.5. Closed-form linearized model --;2.6. Closed-form sensitivity model --;Appendix 2.1 --;Appendix 2.2 --;3 Computer-aided generation of numeric-symbolic robot model --;3.1. Introduction --;3.2. Numeric-symbolic representation of variables --;3.3. Algebra of polynomial matrices --;3.4. Optimization of polynomial matrices --;3.5. Nonlinear model --;3.6. Linearized and sensitivity model --;3.7. Approximate models --;Appendix 3.1 --;4 Model optimization and real-time program-code generation --;4.1. Introduction --;4.2. Optimal computation of polynomial matrices --;4.3. Real-time program-code generation --;Appendix 4.1 --;5 Examples --;5.1. Introduction --;5.2. A cylindrical robot --;5.3. An arthropoid robot --;5.4. An anthropomorphic robot --;5.5. Microcomputer implementation of analytical robot models --;time-memory requirements --;Appendix 5.1 --;References.
SUMMARY OR ABSTRACT
Text of Note
In contrast to the first two books, where recursive computer-aided me- thods for setting robot dynamic equations where described, this mono- graph presents a new approach to the formation of robot dynamics.