Robot Dynamics Algorithms:
The purpose of this book is to present computationally efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies. The efficiency is achieved by the use of recursive formulations of the equations of motion, i.e. formulations in which the equations of...
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Boston, MA
Springer US
1987
|
| Schriftenreihe: | The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors
22 |
| Schlagworte: | |
| Online-Zugang: | BTU01 URL des Erstveröffentlichers |
| Zusammenfassung: | The purpose of this book is to present computationally efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies. The efficiency is achieved by the use of recursive formulations of the equations of motion, i.e. formulations in which the equations of motion are expressed implicitly in terms of recurrence relations between the quantities describing the system. The use of recursive formulations in dynamics is fairly new, 50 the principles of their operation and reasons for their efficiency are explained. Three main algorithms are described: the recursIve Newton-Euler formulation for inverse dynamics (the calculation of the forces given the accelerations), and the composite-rigid-body and articulated-body methods for forward dynamics (the calculation of the accelerations given the forces). These algorithms are initially described in terms of an un-branched, open loop kinematic chain -- a typical serial robot mechanism. This is done to keep the descriptions of the algorithms simple, and is in line with descriptions appearing in the literature. Once the basic algorithms have been introduced, the restrictions on the mechanism are lifted and the algorithms are extended to cope with kinematic trees and loops, and general constraints at the joints. The problem of simulating the effect of contact between a robot and its environment is also considered. Some consideration is given to the details and practical problems of implementing these algori?hms on a computer |
| Beschreibung: | 1 Online-Ressource (X, 211 p) |
| ISBN: | 9780387743158 |
| DOI: | 10.1007/978-0-387-74315-8 |
Internformat
MARC
| LEADER | 00000nmm a2200000zcb4500 | ||
|---|---|---|---|
| 001 | BV045184853 | ||
| 003 | DE-604 | ||
| 005 | 00000000000000.0 | ||
| 007 | cr|uuu---uuuuu | ||
| 008 | 180912s1987 |||| o||u| ||||||eng d | ||
| 020 | |a 9780387743158 |9 978-0-387-74315-8 | ||
| 024 | 7 | |a 10.1007/978-0-387-74315-8 |2 doi | |
| 035 | |a (ZDB-2-ENG)978-0-387-74315-8 | ||
| 035 | |a (OCoLC)857965883 | ||
| 035 | |a (DE-599)BVBBV045184853 | ||
| 040 | |a DE-604 |b ger |e aacr | ||
| 041 | 0 | |a eng | |
| 049 | |a DE-634 | ||
| 082 | 0 | |a 629.8 |2 23 | |
| 100 | 1 | |a Featherstone, Roy |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Robot Dynamics Algorithms |c by Roy Featherstone |
| 264 | 1 | |a Boston, MA |b Springer US |c 1987 | |
| 300 | |a 1 Online-Ressource (X, 211 p) | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b c |2 rdamedia | ||
| 338 | |b cr |2 rdacarrier | ||
| 490 | 0 | |a The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors |v 22 | |
| 520 | |a The purpose of this book is to present computationally efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies. The efficiency is achieved by the use of recursive formulations of the equations of motion, i.e. formulations in which the equations of motion are expressed implicitly in terms of recurrence relations between the quantities describing the system. The use of recursive formulations in dynamics is fairly new, 50 the principles of their operation and reasons for their efficiency are explained. Three main algorithms are described: the recursIve Newton-Euler formulation for inverse dynamics (the calculation of the forces given the accelerations), and the composite-rigid-body and articulated-body methods for forward dynamics (the calculation of the accelerations given the forces). These algorithms are initially described in terms of an un-branched, open loop kinematic chain -- a typical serial robot mechanism. This is done to keep the descriptions of the algorithms simple, and is in line with descriptions appearing in the literature. Once the basic algorithms have been introduced, the restrictions on the mechanism are lifted and the algorithms are extended to cope with kinematic trees and loops, and general constraints at the joints. The problem of simulating the effect of contact between a robot and its environment is also considered. Some consideration is given to the details and practical problems of implementing these algori?hms on a computer | ||
| 650 | 4 | |a Engineering | |
| 650 | 4 | |a Control, Robotics, Mechatronics | |
| 650 | 4 | |a Systems Theory, Control | |
| 650 | 4 | |a Computer-Aided Engineering (CAD, CAE) and Design | |
| 650 | 4 | |a Engineering | |
| 650 | 4 | |a Computer-aided engineering | |
| 650 | 4 | |a System theory | |
| 650 | 4 | |a Control engineering | |
| 650 | 4 | |a Robotics | |
| 650 | 4 | |a Mechatronics | |
| 650 | 0 | 7 | |a Roboter |0 (DE-588)4050208-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Dynamik |0 (DE-588)4013384-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Mehrkörpersystem |0 (DE-588)4038390-8 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Algorithmus |0 (DE-588)4001183-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Numerisches Verfahren |0 (DE-588)4128130-5 |2 gnd |9 rswk-swf |
| 655 | 7 | |8 1\p |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
| 689 | 0 | 0 | |a Roboter |0 (DE-588)4050208-9 |D s |
| 689 | 0 | 1 | |a Dynamik |0 (DE-588)4013384-9 |D s |
| 689 | 0 | 2 | |a Algorithmus |0 (DE-588)4001183-5 |D s |
| 689 | 0 | |8 2\p |5 DE-604 | |
| 689 | 1 | 0 | |a Mehrkörpersystem |0 (DE-588)4038390-8 |D s |
| 689 | 1 | 1 | |a Dynamik |0 (DE-588)4013384-9 |D s |
| 689 | 1 | 2 | |a Numerisches Verfahren |0 (DE-588)4128130-5 |D s |
| 689 | 1 | |8 3\p |5 DE-604 | |
| 776 | 0 | 8 | |i Erscheint auch als |n Druck-Ausgabe |z 9781475764376 |
| 856 | 4 | 0 | |u https://doi.org/10.1007/978-0-387-74315-8 |x Verlag |z URL des Erstveröffentlichers |3 Volltext |
| 912 | |a ZDB-2-ENG | ||
| 940 | 1 | |q ZDB-2-ENG_Archiv | |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-030574030 | ||
| 883 | 1 | |8 1\p |a cgwrk |d 20201028 |q DE-101 |u https://d-nb.info/provenance/plan#cgwrk | |
| 883 | 1 | |8 2\p |a cgwrk |d 20201028 |q DE-101 |u https://d-nb.info/provenance/plan#cgwrk | |
| 883 | 1 | |8 3\p |a cgwrk |d 20201028 |q DE-101 |u https://d-nb.info/provenance/plan#cgwrk | |
| 966 | e | |u https://doi.org/10.1007/978-0-387-74315-8 |l BTU01 |p ZDB-2-ENG |q ZDB-2-ENG_Archiv |x Verlag |3 Volltext | |
Datensatz im Suchindex
| _version_ | 1804178874080165888 |
|---|---|
| any_adam_object | |
| author | Featherstone, Roy |
| author_facet | Featherstone, Roy |
| author_role | aut |
| author_sort | Featherstone, Roy |
| author_variant | r f rf |
| building | Verbundindex |
| bvnumber | BV045184853 |
| collection | ZDB-2-ENG |
| ctrlnum | (ZDB-2-ENG)978-0-387-74315-8 (OCoLC)857965883 (DE-599)BVBBV045184853 |
| dewey-full | 629.8 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8 |
| dewey-search | 629.8 |
| dewey-sort | 3629.8 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/978-0-387-74315-8 |
| format | Electronic eBook |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>04243nmm a2200697zcb4500</leader><controlfield tag="001">BV045184853</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">00000000000000.0</controlfield><controlfield tag="007">cr|uuu---uuuuu</controlfield><controlfield tag="008">180912s1987 |||| o||u| ||||||eng d</controlfield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">9780387743158</subfield><subfield code="9">978-0-387-74315-8</subfield></datafield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1007/978-0-387-74315-8</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(ZDB-2-ENG)978-0-387-74315-8</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)857965883</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)BVBBV045184853</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">aacr</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-634</subfield></datafield><datafield tag="082" ind1="0" ind2=" "><subfield code="a">629.8</subfield><subfield code="2">23</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Featherstone, Roy</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Robot Dynamics Algorithms</subfield><subfield code="c">by Roy Featherstone</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Boston, MA</subfield><subfield code="b">Springer US</subfield><subfield code="c">1987</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">1 Online-Ressource (X, 211 p)</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="490" ind1="0" ind2=" "><subfield code="a">The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors</subfield><subfield code="v">22</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">The purpose of this book is to present computationally efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies. The efficiency is achieved by the use of recursive formulations of the equations of motion, i.e. formulations in which the equations of motion are expressed implicitly in terms of recurrence relations between the quantities describing the system. The use of recursive formulations in dynamics is fairly new, 50 the principles of their operation and reasons for their efficiency are explained. Three main algorithms are described: the recursIve Newton-Euler formulation for inverse dynamics (the calculation of the forces given the accelerations), and the composite-rigid-body and articulated-body methods for forward dynamics (the calculation of the accelerations given the forces). These algorithms are initially described in terms of an un-branched, open loop kinematic chain -- a typical serial robot mechanism. This is done to keep the descriptions of the algorithms simple, and is in line with descriptions appearing in the literature. Once the basic algorithms have been introduced, the restrictions on the mechanism are lifted and the algorithms are extended to cope with kinematic trees and loops, and general constraints at the joints. The problem of simulating the effect of contact between a robot and its environment is also considered. Some consideration is given to the details and practical problems of implementing these algori?hms on a computer</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Engineering</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Control, Robotics, Mechatronics</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Systems Theory, Control</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Computer-Aided Engineering (CAD, CAE) and Design</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Engineering</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Computer-aided engineering</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">System theory</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Control engineering</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Robotics</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Mechatronics</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Roboter</subfield><subfield code="0">(DE-588)4050208-9</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Dynamik</subfield><subfield code="0">(DE-588)4013384-9</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Mehrkörpersystem</subfield><subfield code="0">(DE-588)4038390-8</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Algorithmus</subfield><subfield code="0">(DE-588)4001183-5</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Numerisches Verfahren</subfield><subfield code="0">(DE-588)4128130-5</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="655" ind1=" " ind2="7"><subfield code="8">1\p</subfield><subfield code="0">(DE-588)4113937-9</subfield><subfield code="a">Hochschulschrift</subfield><subfield code="2">gnd-content</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Roboter</subfield><subfield code="0">(DE-588)4050208-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Dynamik</subfield><subfield code="0">(DE-588)4013384-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="2"><subfield code="a">Algorithmus</subfield><subfield code="0">(DE-588)4001183-5</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="8">2\p</subfield><subfield code="5">DE-604</subfield></datafield><datafield tag="689" ind1="1" ind2="0"><subfield code="a">Mehrkörpersystem</subfield><subfield code="0">(DE-588)4038390-8</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="1" ind2="1"><subfield code="a">Dynamik</subfield><subfield code="0">(DE-588)4013384-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="1" ind2="2"><subfield code="a">Numerisches Verfahren</subfield><subfield code="0">(DE-588)4128130-5</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="1" ind2=" "><subfield code="8">3\p</subfield><subfield code="5">DE-604</subfield></datafield><datafield tag="776" ind1="0" ind2="8"><subfield code="i">Erscheint auch als</subfield><subfield code="n">Druck-Ausgabe</subfield><subfield code="z">9781475764376</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doi.org/10.1007/978-0-387-74315-8</subfield><subfield code="x">Verlag</subfield><subfield code="z">URL des Erstveröffentlichers</subfield><subfield code="3">Volltext</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">ZDB-2-ENG</subfield></datafield><datafield tag="940" ind1="1" ind2=" "><subfield code="q">ZDB-2-ENG_Archiv</subfield></datafield><datafield tag="999" ind1=" " ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-030574030</subfield></datafield><datafield tag="883" ind1="1" ind2=" "><subfield code="8">1\p</subfield><subfield code="a">cgwrk</subfield><subfield code="d">20201028</subfield><subfield code="q">DE-101</subfield><subfield code="u">https://d-nb.info/provenance/plan#cgwrk</subfield></datafield><datafield tag="883" ind1="1" ind2=" "><subfield code="8">2\p</subfield><subfield code="a">cgwrk</subfield><subfield code="d">20201028</subfield><subfield code="q">DE-101</subfield><subfield code="u">https://d-nb.info/provenance/plan#cgwrk</subfield></datafield><datafield tag="883" ind1="1" ind2=" "><subfield code="8">3\p</subfield><subfield code="a">cgwrk</subfield><subfield code="d">20201028</subfield><subfield code="q">DE-101</subfield><subfield code="u">https://d-nb.info/provenance/plan#cgwrk</subfield></datafield><datafield tag="966" ind1="e" ind2=" "><subfield code="u">https://doi.org/10.1007/978-0-387-74315-8</subfield><subfield code="l">BTU01</subfield><subfield code="p">ZDB-2-ENG</subfield><subfield code="q">ZDB-2-ENG_Archiv</subfield><subfield code="x">Verlag</subfield><subfield code="3">Volltext</subfield></datafield></record></collection> |
| genre | 1\p (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV045184853 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-10T08:10:54Z |
| institution | BVB |
| isbn | 9780387743158 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-030574030 |
| oclc_num | 857965883 |
| open_access_boolean | |
| owner | DE-634 |
| owner_facet | DE-634 |
| physical | 1 Online-Ressource (X, 211 p) |
| psigel | ZDB-2-ENG ZDB-2-ENG_Archiv ZDB-2-ENG ZDB-2-ENG_Archiv |
| publishDate | 1987 |
| publishDateSearch | 1987 |
| publishDateSort | 1987 |
| publisher | Springer US |
| record_format | marc |
| series2 | The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors |
| spelling | Featherstone, Roy Verfasser aut Robot Dynamics Algorithms by Roy Featherstone Boston, MA Springer US 1987 1 Online-Ressource (X, 211 p) txt rdacontent c rdamedia cr rdacarrier The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors 22 The purpose of this book is to present computationally efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies. The efficiency is achieved by the use of recursive formulations of the equations of motion, i.e. formulations in which the equations of motion are expressed implicitly in terms of recurrence relations between the quantities describing the system. The use of recursive formulations in dynamics is fairly new, 50 the principles of their operation and reasons for their efficiency are explained. Three main algorithms are described: the recursIve Newton-Euler formulation for inverse dynamics (the calculation of the forces given the accelerations), and the composite-rigid-body and articulated-body methods for forward dynamics (the calculation of the accelerations given the forces). These algorithms are initially described in terms of an un-branched, open loop kinematic chain -- a typical serial robot mechanism. This is done to keep the descriptions of the algorithms simple, and is in line with descriptions appearing in the literature. Once the basic algorithms have been introduced, the restrictions on the mechanism are lifted and the algorithms are extended to cope with kinematic trees and loops, and general constraints at the joints. The problem of simulating the effect of contact between a robot and its environment is also considered. Some consideration is given to the details and practical problems of implementing these algori?hms on a computer Engineering Control, Robotics, Mechatronics Systems Theory, Control Computer-Aided Engineering (CAD, CAE) and Design Computer-aided engineering System theory Control engineering Robotics Mechatronics Roboter (DE-588)4050208-9 gnd rswk-swf Dynamik (DE-588)4013384-9 gnd rswk-swf Mehrkörpersystem (DE-588)4038390-8 gnd rswk-swf Algorithmus (DE-588)4001183-5 gnd rswk-swf Numerisches Verfahren (DE-588)4128130-5 gnd rswk-swf 1\p (DE-588)4113937-9 Hochschulschrift gnd-content Roboter (DE-588)4050208-9 s Dynamik (DE-588)4013384-9 s Algorithmus (DE-588)4001183-5 s 2\p DE-604 Mehrkörpersystem (DE-588)4038390-8 s Numerisches Verfahren (DE-588)4128130-5 s 3\p DE-604 Erscheint auch als Druck-Ausgabe 9781475764376 https://doi.org/10.1007/978-0-387-74315-8 Verlag URL des Erstveröffentlichers Volltext 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk 2\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk 3\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Featherstone, Roy Robot Dynamics Algorithms Engineering Control, Robotics, Mechatronics Systems Theory, Control Computer-Aided Engineering (CAD, CAE) and Design Computer-aided engineering System theory Control engineering Robotics Mechatronics Roboter (DE-588)4050208-9 gnd Dynamik (DE-588)4013384-9 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Algorithmus (DE-588)4001183-5 gnd Numerisches Verfahren (DE-588)4128130-5 gnd |
| subject_GND | (DE-588)4050208-9 (DE-588)4013384-9 (DE-588)4038390-8 (DE-588)4001183-5 (DE-588)4128130-5 (DE-588)4113937-9 |
| title | Robot Dynamics Algorithms |
| title_auth | Robot Dynamics Algorithms |
| title_exact_search | Robot Dynamics Algorithms |
| title_full | Robot Dynamics Algorithms by Roy Featherstone |
| title_fullStr | Robot Dynamics Algorithms by Roy Featherstone |
| title_full_unstemmed | Robot Dynamics Algorithms by Roy Featherstone |
| title_short | Robot Dynamics Algorithms |
| title_sort | robot dynamics algorithms |
| topic | Engineering Control, Robotics, Mechatronics Systems Theory, Control Computer-Aided Engineering (CAD, CAE) and Design Computer-aided engineering System theory Control engineering Robotics Mechatronics Roboter (DE-588)4050208-9 gnd Dynamik (DE-588)4013384-9 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Algorithmus (DE-588)4001183-5 gnd Numerisches Verfahren (DE-588)4128130-5 gnd |
| topic_facet | Engineering Control, Robotics, Mechatronics Systems Theory, Control Computer-Aided Engineering (CAD, CAE) and Design Computer-aided engineering System theory Control engineering Robotics Mechatronics Roboter Dynamik Mehrkörpersystem Algorithmus Numerisches Verfahren Hochschulschrift |
| url | https://doi.org/10.1007/978-0-387-74315-8 |
| work_keys_str_mv | AT featherstoneroy robotdynamicsalgorithms |