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DYNAMICS OF THE GENERALIZED MANIPULATOR
| Title: | THE DYNAMICS OF THE GENERALIZED MANIPULATOR. |
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| Name(s): |
LAU, TO-CHOI. Florida Atlantic University, Degree grantor Roth, Zvi S., Thesis advisor College of Engineering and Computer Science Department of Computer and Electrical Engineering and Computer Science |
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| Type of Resource: | text | |
| Genre: | Electronic Thesis Or Dissertation | |
| Issuance: | monographic | |
| Date Issued: | 1985 | |
| Publisher: | Florida Atlantic University | |
| Place of Publication: | Boca Raton, Fla. | |
| Physical Form: | application/pdf | |
| Extent: | 184 p. | |
| Language(s): | English | |
| Summary: | The concept of "generalized manipulator" is introduced, and the closed form and recursive form dynamical models of the generalized manipulator are presented in Newton-Euler formulation. The physical meaning of each term in the dynamical model is explained. The dynamical models formulated by the Newton-Euler method and the Lagrangian-Euler method are proved equivalent. The dynamical model of the generalized manipulator is reduced to ordinary manipulators. The reduced dynamical model is shown identical to existing models. Furthermore, the reduced dynamical model of the generalized manipulator can be used to compute forces and torques components along any direction. Application of the model to problems of mobile robots and flexible manipulators is shown. | |
| Identifier: | AAI1325181 (UnM), 14243 (digitool), FADT14243 (IID), fau:11053 (fedora) | |
| Collection: | FAU Electronic Theses and Dissertations Collection | |
| Note(s): |
College of Engineering and Computer Science Thesis (M.S.)--Florida Atlantic University, 1985. |
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| Subject(s): |
Manipulators (Mechanism) Robots |
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| Held by: | Florida Atlantic University Libraries | |
| Persistent Link to This Record: | http://purl.flvc.org/fcla/dt/14243 | |
| Sublocation: | Digital Library | |
| Use and Reproduction: | Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder. | |
| Use and Reproduction: | http://rightsstatements.org/vocab/InC/1.0/ | |
| Host Institution: | FAU | |
| Is Part of Series: | Florida Atlantic University Digital Library Collections. |
