Linearity of multibody systems with respect to barycentric parameters - Dynamics and identification models obtained by symbolic generation
Abstract
The aim of the paper is to produce the equations of motion of a multibody system in symbolic form. The formulation permits emphasis of the linearity of the equation with respect to barycentric parameters. Dynamic and identification models for manipulators are derived in an easy-to-read symbolic form by use of the ROBOTRAN program, which is also described.
- Publication:
-
Mechanics of Structures and Machines
- Pub Date:
- June 1989
- Bibcode:
- 1989MSM....17..219M
- Keywords:
-
- Center Of Gravity;
- Dynamical Systems;
- Linear Equations;
- Symbolic Programming;
- System Identification;
- Equations Of Motion;
- Lagrange Multipliers;
- Manipulators;
- Rigid Structures;
- Robotics;
- Topology;
- Physics (General)