Analysis and Algorithms
E-Book, Englisch, 510 Seiten, eBook
ISBN: 978-1-4419-7267-5
Verlag: Springer US
Format: PDF
Kopierschutz: Wasserzeichen (»Systemvoraussetzungen)
Zielgruppe
Professional/practitioner
Autoren/Hrsg.
Weitere Infos & Material
Spatial vectors.- Single rigid body dynamics.- Differential kinematics for a serial-chain system.- The mass matrix.- Equations of motion for a serial chain system.- Articulated body models for serial chains.- Operator factorization and inversion of the mass matrix.- Forward dynamics.- Tree topology systems.- The operational space inertia.- Closed chain system dynamics.- Multi-arm manipulators.- Systems with hinge flexibility.- Systems with link flexibility.- Under-actuated systems.- Free-flying space manipulators.- Mass matrix sensitives.- Linearized dynamics models.- Sensitivity of innovations factors.- Diagnolized lagrangian dynamics.- Overview of optimal linear estimation theory.