Robot Dynamics Lecture Notes - ETH Z
Robot Dynamics Lecture NotesRobotic Systems Lab, ETH ZurichHS 2017Contents1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . of Positions . . . . . . . . . . . . . . . . . .6Cartesian coordinates . . . . . . . . . . . . . . . . . . . . . .6Cylindrical coordinates . . . . . . . . . . . . . . . . . . . . .7Spherical coordinates . . . . . . . . . . . . . . . . . . . . . . Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . of Linear Velocities.
driven by the actuator forces acting on the joints, while a legged robot additionally encounters interaction forces at its feet and flying vehicles are kept in the air due to aerodynamic forces. In general, we need to distinguish between two categories of robots, namely fixed base and floating base systems.
Download Robot Dynamics Lecture Notes - ETH Z
Information
Domain:
Source:
Link to this page:
Please notify us if you found a problem with this document: