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Kinematics and dynamics in robotics: A tutorial based upon classical concepts of vectorial mechanics

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2 Author(s)
McInnis, Bayliss C. ; University of Houston, Houston, TX, USA ; Chen-Kang Liu

Methods are presented for kinematical and dynamical modeling and analysis of robots that are based upon vectorial mechanics. Basic principles for robotics are presented using classical definitions and concepts. An example of the application of the Newton-Euler equations is included.

Published in:

Robotics and Automation, IEEE Journal of  (Volume:2 ,  Issue: 4 )