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Dynamics of Serial Robotic Manipulators

Part of the Mechanical Engineering Series book series (MES)

Abstract

The main objectives of this chapter are (i) to devise an algorithm for the real-time computed torque control and (ii) to derive the system of second-order ordinary differential equations (ODE) governing the motion of an n-axis manipulator. We will focus on serial manipulators, the dynamics of a much broader class of robotic mechanical systems, namely, parallel manipulators and mobile robots, being the subject of Chapter 10. Moreover, we will study mechanical systems with rigid links and rigid joints and will put aside systems with flexible elements, which pertain to a more specialized realm.

Keywords

Inverse Dynamic Dissipation Function Joint Variable Multibody System Dynamics Prismatic Pair 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag New York, Inc. 2003

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