Accession Number:
ADA055612
Title:
Dynamics of a Three Degree of Freedom Kinematic Chain.
Descriptive Note:
Technical memo.,
Corporate Author:
MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB
Personal Author(s):
Report Date:
1977-10-01
Pagination or Media Count:
60.0
Abstract:
In order to be able to design a control system for high-speed control of mechanical manipulators, it is necessary to understand properly their dynamics. An analysis is presented here of a detailed model of a three-link device which may be viewed as either a leg in a locomotory system, or the first three degrees of freedom of an arm providing for its gross motions. The equations of motion are shown to be non-trivial, yet manageable.
Descriptors:
Subject Categories:
- Bionics