Examples

  • Rainer Palm
  • Hans Hellendoorn
  • Dimiter Driankov
Chapter

Abstract

Let the basic equation describing the motion of a robot arm be
$$ M\left( q \right) \cdot \ddot q + N\left( {q,\dot q} \right) = u, $$
(5.1)
where
  • q is a (k x 1) position vector,

  • \( \dot q \) is a (k × 1) velocity vector,

  • \( \ddot q \) is a (k × 1) acceleration vector,

  • M(q) is a (k × k) matrix of inertia (invertible)

  • N(q, \( \dot q \)) is a (k × 1) vector of damping, centrifugal, coriolis, gravitational forces,

  • u is a (k x 1) vector of generalized forces and torques.

Keywords

Torque Cane 

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Copyright information

© Springer-Verlag Berlin Heidelberg 1997

Authors and Affiliations

  • Rainer Palm
    • 1
  • Hans Hellendoorn
    • 1
  • Dimiter Driankov
    • 2
  1. 1.Siemens AGMünchenGermany
  2. 2.University of LinköpingLinköpingSweden

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