CONTRIBUTION TO COMPUTER CONSTRUCTION OF ACTIVE CHAIN MODELS VIA LAGRANGIAN FORM

被引：5

作者：

VUKOBRATOVIC, M ^{[1
]}

POTKONJAK, V ^{[1
]}

机构：

[1] UNIV BELGRADE, FAC ELECT ENGN, BELGRADE, YUGOSLAVIA

来源：

JOURNAL OF APPLIED MECHANICS-TRANSACTIONS OF THE ASME | 1979年 / 46卷 / 01期

关键词：

Compendex;

D O I：

10.1115/1.3424493

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

Basic principles underlying the computer construction of the models of open kinematic chains using the recurrent relations from the rigid body kinematics are briefly presented in this paper. A new method for automatic setting of the aforementioned models via second-order Lagrange’s equations is presented. This method provides a realistic basis for the application of complete dynamic models to the real-time control of robots and manipulators. © 1979 by ASME.

引用

页码：181 / 185

页数：5