Numerical analysis of robot dynamics algorithms
This thesis presents two issues related to robot dynamics algorithms. We first discuss the planar robot dynamics algorithms because it is useful to study robot motion in the plane before generalizing to 3D. The planar versions of the three most commonly used dynamics algorithms, the recursive Newton-Euler algorithm (RNEA), the articulated-body algorithm (ABA)) and the composite rigid-body algorithm (CRBA) are obtained by using planar vectors, tensors and coordinate transforms. It is shown that...[Show more]
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