Industrial Robots: Application of a Rational Solution for the Direct and Inverse Dynamic Problem

  • Federico Casolo
  • Rodolfo Faglia
  • Giovanni Legnani
Conference paper


Practical applications of a new approach [5–8,18] to the kinematic and dynamic analysis of chains of rigid bodies are here presented. The adopted procedure is based on 4x4 matrices that are cartesian representations of tensors. This method can be considered as a generalization of the Denavit and Hartenberg’s method [10] coherently extended to the whole kinematics and dynamics.

Moreover, this general approach comprises and allows a better interpretation of other methods proposed in the last years for the solution of individual problems [16, 17, 26, 27, 28, 31, 32].

Some examples of application highlight the consequent clear notation and straightforward procedures. Finally, the list of a specific program shows the concise code obtained by using a custom-made software library.


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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Federico Casolo
    • 1
  • Rodolfo Faglia
    • 2
  • Giovanni Legnani
    • 2
  1. 1.Politecnico di Milano, Inst.MilanoItaly
  2. 2.Universita’ di Brescia - Dip. di IngMompiano BSItaly

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