User: Guest  Login
Author(s):
Wang, Mingming; Walter, Ulrich 
Title:
Joint Space Dynamics Algorithm for Tree Structure Space Manipulators by Using Inertia Mapping Matrix 
Abstract:
This study focuses on a modeling scheme that uses the concepts of graph theory and spatial notation for calculating the joint-space dynamics of tree structure space manipulator. The objective is to investigate the forward and inverse multibody dynamics algorithms which are relevant to the development of appropriate trajectory planning and control algorithms. Rather than using conventional parent array as primary tool to analyze the sparsity and computational complexity of inertia matrix, this st...    »
 
Editor:
Terze, Zdravko 
Book title:
ECCOMAS Thematic Conference on Multibody Dynamics 2013 
Publisher:
University of Zagreb. Faculty of Mechanical Engineering and Naval Architecture 
Publisher address:
Zagreb 
Year:
2013 
Print-ISBN:
978-953-7738-21-1