NEWTON-EULER DYNAMICS EQUATIONS FOR COORDINATE FRAME AT CENTER OF MASS

CHEN Lesheng. NEWTON-EULER DYNAMICS EQUATIONS FOR COORDINATE FRAME AT CENTER OF MASS[J]. ROBOT, 1993, 15(3): 33-37.

Citation:

CHEN Lesheng. NEWTON-EULER DYNAMICS EQUATIONS FOR COORDINATE FRAME AT CENTER OF MASS[J]. ROBOT, 1993, 15(3): 33-37.

Citation:

CHEN Lesheng. NEWTON-EULER DYNAMICS EQUATIONS FOR COORDINATE FRAME AT CENTER OF MASS[J]. ROBOT, 1993, 15(3): 33-37.

Abstract

Coordinate frame fixed in link of robot is assingned at each joint axis generally.In this paper,the Newton-Euler robotic dynamic equations are derived by using the method of assigning coordinate frame attached rigid-ly to link at its center of mass.Results for a plane-two-link robot arm are presented.

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