Title :
Kinematics and dynamics in robotics: A tutorial based upon classical concepts of vectorial mechanics
Author :
McInnis, Bayliss C. ; LIU, CHEN-KANG FRANK
Author_Institution :
University of Houston, Houston, TX, USA
fDate :
12/1/1986 12:00:00 AM
Abstract :
Methods are presented for kinematical and dynamical modeling and analysis of robots that are based upon vectorial mechanics. Basic principles for robotics are presented using classical definitions and concepts. An example of the application of the Newton-Euler equations is included.
Keywords :
Mechanical factors; Robots; Acceleration; Angular velocity; Equations; Helium; Joining processes; Manipulators; Robot kinematics; Robotics and automation; Tutorial;
Journal_Title :
Robotics and Automation, IEEE Journal of
DOI :
10.1109/JRA.1986.1087062
