# Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and E

@inproceedings{Lowrie1982EvaluationOA, title={Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and E}, author={J. Lowrie and Al Fermelia and Dennis Haley and Keith D. Gremban and Jeffrey VanBaalen and Roberta W. Walsh}, year={1982} }

The derivation of the equations is presented, the rate control algorithm described, and simulation methodologies summarized. A set of dynamics equations that can be used recursively to calculate forces and torques acting at the joints of an n link manipulator given the manipulator joint rates are derived. The equations are valid for any n link manipulator system with any kind of joints connected in any sequence. The equations of motion for the class of manipulators consisting of n rigid linksâ€¦Â Expand

#### Figures and Tables from this paper

figure 1 figure 10 figure 11 figure 12 figure 15 figure 17.1 figure 19 figure 2 figure 20 figure 21 figure 22 figure 26 figure 28 figure 29 figure 31 figure 34 figure 36 figure 36 figure 37 figure 39 figure 4 figure 40 figure 41 figure 42 figure 43 figure 44 figure 46 figure 47 figure 48 figure 5 figure 50 figure 52 figure 54 figure 55 figure 56 figure 57 figure 58 figure 6 figure 60 figure 62 figure 64 figure 65 figure 66 figure 67 figure 69 figure 7 figure 70 figure 71 figure 72 figure 73 figure 76 figure 77 figure 8 figure 9 table I table IV table IX table V table VI table VII table VIII table X table XI

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