The article describes construction of a mathematical model
of a robot The method is based on a matrix calculus. The advantage of
the described method is in uni ed approach which allows systematic con-
struction of mathematical model of mechanical part of a robot together
with its electrical drives. Matrix engine of the MATLAB-SIMULINK
then allows easy simulation of the complete robot. The article also dis-
cuss classical way of model construction and gives its comparison with
the matrix approach.
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发表于 2007-12-10 22:30:22
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