Dynamics of Serial Robotic Manipulators

  • Jorge Angeles
Part of the Mechanical Engineering Series book series (MES)


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 secondorder 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.


Ordinary Differential Equation Dissipation Function Joint Variable Kinematic Pair Multibody System Dynamics 
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Copyright information

© Springer Science+Business Media New York 1997

Authors and Affiliations

  • Jorge Angeles
    • 1
  1. 1.Department of Mechanical Engineering and Centre for Intelligent MachinesMcGill UniversityMontréalCanada

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