Abstract
This chapter gives an introduction to robotic manipulator modeling. Initially, the background material related to coordinate transformation, homogeneous transformation matrices, and Denavit-Hartenberg (D-H) parameters are discussed. Forward and inverse kinematics of robotic manipulators are discussed next followed by a section on rigid-body dynamics. Then, simple one and two degrees-of-freedom robotic manipulators are modeled and their equations of motion are derived using Lagrange, Newton-Euler and bond graph approaches to show their equivalences. Bond graph model of a three degrees-of-freedom ground manipulator is developed in details. Flexible manipulators are considered next. Further, a planar cooperative manipulator is discussed with its controller design and experimental implementation. Finally, a haptic robot, an example application and experimental implementation of a motor rehabilitation system with visual and sensual feedback are demonstrated.
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Merzouki, R., Samantaray, A.K., Pathak, P.M., Ould Bouamama, B. (2013). Introduction to Robotic Manipulators. In: Intelligent Mechatronic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-4628-5_8
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DOI: https://doi.org/10.1007/978-1-4471-4628-5_8
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