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Dynamics of Tree-Type Robotic Systems
, S.K. Saha, J.K. Dutt
Published in Springer Netherlands
Volume: 62
Pages: 73 - 88
As reviewed in Chap. 2, Newton-Euler (NE) equations of motion are found to be popular in dynamic formulations. Several methods were also proposed by various researchers to obtain the Euler-Langrage’s form of NE equations of motion. One of these methods is based on velocity transformation of the kinematic constraints, e.g., the Natural Orthogonal Complement (NOC) or the Decoupled NOC (DeNOC), as obtained in Chap. 4. The DeNOC matrices of Eq. (4.28) are used in this chapter to obtain the minimal order dynamic equations of motion that have several benefits. © 2013, Springer Science+Business Media Dordrecht.
About the journal
JournalData powered by TypesetIntelligent Systems, Control and Automation: Science and Engineering
PublisherData powered by TypesetSpringer Netherlands