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2014 | OriginalPaper | Buchkapitel

2. Mathematical Background

verfasst von : Jorge Angeles

Erschienen in: Fundamentals of Robotic Mechanical Systems

Verlag: Springer International Publishing

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Abstract

First and foremost, the study of motions undergone by robotic mechanical systems or, for that matter, by mechanical systems at large, requires a suitable motion representation. Now, the motion of mechanical systems involves the motion of the particular links comprising those systems, which in this book are supposed to be rigid. The assumption of rigidity, although limited in scope, still covers a wide spectrum of applications, while providing insight into the motion of more complicated systems, such as those involving deformable bodies.

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Vorheriges Kapitel An Overview of Robotic Mechanical Systems

Nächstes Kapitel Fundamentals of Rigid-Body Mechanics

Popularly known as the triple cross product.

This relation was derived by Ph.D. candidate Philippe Cardou.

\(\mathcal{F}_{i}\) is obviously frame X _i ,Y _i ,Z _i .

An account of curve geometry is given in Sect. 11.2.

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Titel: Mathematical Background
verfasst von: Jorge Angeles
Verlag: Springer International Publishing
Buch: Fundamentals of Robotic Mechanical Systems
Print ISBN: 978-3-319-01850-8

Electronic ISBN: 978-3-319-01851-5

Copyright-Jahr: 2014
DOI: https://doi.org/10.1007/978-3-319-01851-5_2

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