[工学]《Fundamentals of Robotic Mechanical Systems Theroy Methods and Algorithms》chapter3 89-128.pdfVIP

Chapter 3 Fundamental s of Rigid-Body Mechanic s 3. 1 Introductio n The purpose of thi s chapter is t o lay down th e foundations of th e kinetostatic s and dynamics of rigid bodies, as needed in th e study of multibody mechanical systems. With thi s background , we study the kinetostatic s and dynamics of robotic manipulator s of th e serial typ e in Chapter s 5 and 7, respectively, while devoting Chapter 6