机器人学基础第4章机器人动力学蔡自兴.

1中南大学蔡自兴，谢斌zxcai,xiebin@mail.csu.edu.cn2010机器人学基础第四章机器人动力学1FundamentalsofRobotics2ContentsIntroductiontoDynamicsRigidBodyDynamicsLagrangianFormulationNewton-EulerFormulationArticulatedMulti-BodyDynamics2Ch.4ManipulatorDynamics33Ch.4ManipulatorDynamicsIntroductionCh.4ManipulatorDynamicsManipulatorDynamicsconsiderstheforcesrequiredtocausedesiredmotion.Considerin...