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Authors: Schiehlen, Werner
Title: Multibody systems and robot dynamics
Issue Date: 1990 Konferenzbeitrag Proceedings of the Eight CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. Warsaw : Univ. of Technology Publ., 1990. - ISBN 83-90050-12-9, S. 14-21
Abstract: The method of multibody system has been developed during the last two decades with application to various engineering topics, including robotics and walking machines. On the other hand, special algorithms for robot dynamics are available featuring the high computational efficiency required for control purposes. This paper shows the close relation between both approaches. Essential criteria for the effeciency of dynamics software are the numbers of coordinates used, which should be minimal. For illustration a two-body system is considered, including open and cIosed loop configurations.
Appears in Collections:07 Fakultät Konstruktions-, Produktions- und Fahrzeugtechnik

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