@ARTICLE{Stępniewski_Andrzej_A._Simulative_2005,
 author={Stępniewski, Andrzej A.},
 volume={vol. 52},
 number={No 4},
 journal={Archive of Mechanical Engineering},
 pages={305-321},
 howpublished={online},
 year={2005},
 publisher={Polish Academy of Sciences, Committee on Machine Building},
 abstract={The paper presents the algorithms for kinematic analysis, trajectory planning, dynamics of kinematic chain and driving units elaborated for manipulators and robots with kinematic chains of serial structure with revolute pairs with perpendicular or parallel axes. Elastic deflections of driving units as well as action of external forces on end-effector have been taken into account. The simulating software was created using the modular structure of modeling process. The application of software for testing the robots accuracy and running speed acc. to ISO 9283 is also presented.},
 type={Article},
 title={Simulative investigation of robot's accuracy and running speed for at planning of a trajectory},
 URL={http://ochroma.man.poznan.pl/Content/124982/PDF/3_MECHANICAL_52_2005_4_Stepniewski_Simulative.pdf},
 keywords={robot, trajectory, accuracy, running speed, movement simulation},
}