Abstract
In Chapter 2 we derived an algorithm which solved the complete dynamics of manipulation robots. Let us note that the algorithm considered a manipulator as an open kinematic chain. This fact restricts the set of manipulation tasks which can be analyzed. Let us consider a peg-in-the--hole assembly task (Fig. 3.1). In such a task the manipulator changes its configuration.
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© 1985 Springer-Verlag, Berlin, Heidelberg
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Vukobratović, M., Potkonjak, V. (1985). Closed Chain Dynamics. In: Applied Dynamics and CAD of Manipulation Robots. Communications and Control Engineering Series, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-82204-9_3
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DOI: https://doi.org/10.1007/978-3-642-82204-9_3
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