{"title":"机器人中的运动学和动力学:基于矢量力学经典概念的教程","authors":"B. McInnis, Chen-Kang Liu","doi":"10.1109/JRA.1986.1087062","DOIUrl":null,"url":null,"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.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"41 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1986-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":"{\"title\":\"Kinematics and dynamics in robotics: A tutorial based upon classical concepts of vectorial mechanics\",\"authors\":\"B. McInnis, Chen-Kang Liu\",\"doi\":\"10.1109/JRA.1986.1087062\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":370047,\"journal\":{\"name\":\"IEEE J. Robotics Autom.\",\"volume\":\"41 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1986-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"14\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE J. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/JRA.1986.1087062\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/JRA.1986.1087062","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematics and dynamics in robotics: A tutorial based upon classical concepts of vectorial mechanics
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.
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