This monograph represents the second book of the series entitled:" SCI ENTIFIC FUNDAl-
1ENTALS OF ROBOTICS". While the first volume provides a study of the dynamics of spatial …

Рассмотрен широкий круг вопросов моделирования рабочих процессов
манипуляционных систем мобильных многоцелевых транспортно-технологических …

Manipulation robots belong to a class of complex, nonlinear dynamic systems. In addition,
they are subjected to the constraints resulting from work-space obstacles, kinematical and …

Modelling the dynamics of contact tasks is carried out in a completely general way. Two
dynamic systems are brought into contact and the relevant dynamic effects analysed. The …

In this paper, a new Lagrangian formulation of dynamics for robot manipulators is
developed. The formulation results in well structured form equations of motion for robot …

Based on Lagrange's formalism a new derivative-free approach for dynamic Simulation(in a
more extended sense) of multi-rigid-body systems with kinematical tree configurations is …

Предложено математическое описание алгоритма последовательного формирования
локальных систем координат звеньев для манипуляторов с вращательными и …

An iterative procedure for obtaining dynamic model of manipulator has been proposed in
this paper. The high efficiency of the procedure is reached on the basis of iterative relations …

This paper presents a new program package for the generation of efficient manipulator
kinematic and dynamic equations in symbolic form. The basic algorithm belongs to the class …

This paper discusses one problem of robot dynamics rarely mentioned in papers relevent to
this field. It is the problem of torsional effects in torque transmissions (reducers, shafts …