Towards a Unified Representation of Mechanisms for Robotic Control Software
نویسندگان
چکیده
This article gives an overview of the Mechanism Model paradigm. The mechanism model paradigm provides a framework to modeling mechanisms for robotic control. The emphasis is on the unification of mathematical models of kinematics/dynamics, geometric information and control system parameters of a variety of robotic systems (including serial manipulators, wheeled and legged locomotors), with algorithms needed for typical robot control applications.
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تاریخ انتشار 2005