Robot Dynamics Algorithms by Roy Featherstone
English | PDF | 1987 | 214 Pages | ISBN : 1475764375 | 11.72 MB
The purpose of this book is to present computationally efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies. The efficiency is achieved by the use of recursive formulations of the equations of motion, i.e. formulations in which the equations of motion are expressed implicitly in terms of recurrence relations between the quantities describing the system.