Corpus ID: 117941873

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and E

@inproceedings{Lowrie1982EvaluationOA,
  title={Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and E},
  author={J. Lowrie and Al Fermelia and Dennis Haley and Keith D. Gremban and Jeffrey VanBaalen and Roberta W. Walsh},
  year={1982}
}
The derivation of the equations is presented, the rate control algorithm described, and simulation methodologies summarized. A set of dynamics equations that can be used recursively to calculate forces and torques acting at the joints of an n link manipulator given the manipulator joint rates are derived. The equations are valid for any n link manipulator system with any kind of joints connected in any sequence. The equations of motion for the class of manipulators consisting of n rigid links… Expand

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