A homogeneous matrix approach to 3D kinematics and dynamics—II. Applications to chains of rigid bodies and serial manipulators
作者： Giovanni Legnani , Federico Casalo , Paolo Righettini , Bruno Zappa
DOI: 10.1016/0094-114X(95)00101-4
关键词: Geometry 、 Numerical analysis 、 Matrix method 、 Transformation matrix 、 Artificial intelligence 、 Mathematics 、 Topology 、 Serial manipulator 、 Solid body 、 Robotics 、 Kinematics 、 Kinematic chain
摘要: In this paper we present applications of the new approach to kinematic and dynamic analysis systems rigid bodies presented in Part I. An extension method Lagrangian formulation dynamics chains is also presented. The preformed for a generic serial manipulator either open closed loop. Two numerical examples concerning an loop are too. software packages based on our briefly introduced.
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