Linearity of Multibody Systems with Respect to Barycentric Parameters: Dynamics and Identification Models Obtained by Symbolic Generation

Linearity of Multibody Systems with Respect to Barycentric Parameters: Dynamics and Identification Models Obtained by Symbolic Generation

The aim of the paper is to produce the equations of motion of a multibody system in symbolic form. The formulation permits emphasis of the linearity of the equation with respect to barycentric parameters. Dynamic and identification models for manipulators are derived in an easy-to-read symbolic form...

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Veröffentlicht in:Mechanics of structures and machines 1989-06, Vol.17 (2), p.219-237
Hauptverfasser: Maes, P., Samin, J.-C., Willems, P.-Y.
Format: Artikel
Sprache:eng
Schlagworte:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Robotics
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Beschreibung
Zusammenfassung:The aim of the paper is to produce the equations of motion of a multibody system in symbolic form. The formulation permits emphasis of the linearity of the equation with respect to barycentric parameters. Dynamic and identification models for manipulators are derived in an easy-to-read symbolic form by use of the ROBOTRAN program, which is also described.
ISSN:0890-5452
1525-612X
DOI:10.1080/15397738909412817