Abstract
In the paper, in keeping with the fact that the robots are complex mechanical systems, on the basis of matrix exponentials, some notions applicable in advanced dynamics of mechanical systems, as well as variational principle from analytical mechanics will be analyzed. There will be presented the D’Alembert-Lagrange principle, written in the generalized form, and a few formulations on the Hamilton’s variational principle. On the basis of these aspects, by using of important mass distribution parameters, there will be expressed the kinetic energy and first and second order of the acceleration energy, the last one into a new formulation.
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References
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Negrean, I., Schonstein, C., Kacso, K., Duca, A. (2014). Formulations in Advanced Dynamics of Mechanical Systems. In: Visa, I. (eds) The 11th IFToMM International Symposium on Science of Mechanisms and Machines. Mechanisms and Machine Science, vol 18. Springer, Cham. https://doi.org/10.1007/978-3-319-01845-4_19
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DOI: https://doi.org/10.1007/978-3-319-01845-4_19
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