[Avery Andrews 940722.1343]
Trying to get back into arm control modelling, I came across the
following useful-looking book:
TITLE Robot dynamics and control / Mark W. Spong, M. Vidyasagar.
AUTHOR Spong, Mark W.
AUTHOR Vidyasagar, M. (Mathukumalli), 1947-
PUBLISHED New York : Wiley, c1989.
DESCRIPT xvi, 336 p. : ill ; 24 cm.
SUBJECT Robots --Dynamics.
Robots --Control systems.
BIBLIOG. Includes bibliographies and index.
ISBN 047161243X.
ABN IMM # 5960409.
88022724.
This includes a chapter on computing the forward dynamics of the
manipulators, which is a bit beyond my present mathematical grip,
but I think that maybe with some work I could get it. Perhaps people
more up on their math than I am (Greg Williams?) could get it even
faster.
Avery.Andrews@anu.edu.au