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Détail de l'auteur
Auteur Paul Milenkovic
Documents disponibles écrits par cet auteur
Affiner la rechercheSolution of the forward dynamics of a single-loop linkage using power series / Paul Milenkovic in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 133 N° 6 (Novembre 2011)
[article]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 6 (Novembre 2011) . - 09 p.
Titre : Solution of the forward dynamics of a single-loop linkage using power series Type de document : texte imprimé Auteurs : Paul Milenkovic, Auteur Année de publication : 2012 Article en page(s) : 09 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Differential equations Robot dynamics Robot kinematics Series (mathematics) Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : The kinematic differential equations express the paths taken by points, lines, and coordinate frames attached to a rigid body in terms of the instantaneous screw for the motion of that body. Such differential equations are linear but with a time-varying coefficient and hence solvable by power series. A single-loop kinematic chain may be expressed by a system of such differential equations subject to a linear constraint. A single matrix factorization followed by a sequence of substitutions of linear-system right-hand-side terms determines successive orders of the joint rate coefficients in the kinematic solution for this mechanism. The present work extends this procedure to the forward dynamics problem, applying it to a Clemens constant-velocity coupling expressed as a spatial 9R closed kinematic chain. DEWEY : 553 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000133000006 [...] [article] Solution of the forward dynamics of a single-loop linkage using power series [texte imprimé] / Paul Milenkovic, Auteur . - 2012 . - 09 p.
Dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 6 (Novembre 2011) . - 09 p.
Mots-clés : Differential equations Robot dynamics Robot kinematics Series (mathematics) Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : The kinematic differential equations express the paths taken by points, lines, and coordinate frames attached to a rigid body in terms of the instantaneous screw for the motion of that body. Such differential equations are linear but with a time-varying coefficient and hence solvable by power series. A single-loop kinematic chain may be expressed by a system of such differential equations subject to a linear constraint. A single matrix factorization followed by a sequence of substitutions of linear-system right-hand-side terms determines successive orders of the joint rate coefficients in the kinematic solution for this mechanism. The present work extends this procedure to the forward dynamics problem, applying it to a Clemens constant-velocity coupling expressed as a spatial 9R closed kinematic chain. DEWEY : 553 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000133000006 [...]