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Robot Dynamics

  • Reza N. Jazar

Abstract

Figure 12.1 illustrates a link (i) of a manipulator and shows its velocity and acceleration vectorial characteristics. Based on velocity and acceleration kinematics of rigid links we can write a set of recursive equations to relate the kinematics information of each link in the coordinate frame attached to the previous link. We may then generalize the method of analysis to be suitable for a robot with any number of links.
FIGURE 12.1.

Illustration of vectorial kinematics information of a link (i).

Keywords

Coordinate Frame Lagrange Equation Angular Acceleration Planar Manipulator Force System 
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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References

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Copyright information

© Springer Science+Business Media, LLC 2007

Authors and Affiliations

  • Reza N. Jazar
    • 1
  1. 1.Department of Mechanical EngineeringManhattan CollegeRiverdale

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