Dynamic Analysis of Robot Manipulators A Cartesian Tensor Approach
The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the following problems of rigid-link open-chain manipulator dynam ics are considered : i) computation of inverse dynamics, ii) computation of f...
Main Authors: | , |
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Format: | eBook |
Language: | English |
Published: |
New York, NY
Springer US
1991, 1991
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Edition: | 1st ed. 1991 |
Series: | The Springer International Series in Engineering and Computer Science
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Subjects: | |
Online Access: | |
Collection: | Springer Book Archives -2004 - Collection details see MPG.ReNa |
Table of Contents:
- 1 Introduction
- 1.1 Basic Problems in Robot Manipulator Dynamics
- 1.2 General Remarks on Robot Manipulator Dynamics
- 1.3 Objectives and Motivation
- 1.4 Preview
- 1.5 References
- 2 Notation, Terminology and Background Material
- 2.1 Notation
- 2.2 Rigid Bodies and their Finite Displacement
- 2.3 Robot Manipulators
- 2.4 References
- 3 Cartesian Tensor Analysis
- 3.1 Introduction
- 3.2 Second Order Cartesian Tensors
- 3.3 Properties of Second Order Cartesian Tensors
- 3.4 Cartesian Tensor Algebraic Identities
- 3.5 References
- 4 Cartesian Tensors and Rigid Body Motion
- 4.1 Introduction
- 4.2 On Kinematic Analysis of Rigid Body Motion
- 4.3 On Dynamic Analysis of Rigid Body Motion
- 4.4 References
- 5 Manipulator Inverse Dynamics
- 5.1 Introduction
- 5.2 Previous Results and General Observations on Manipulator Inverse Dynamics
- 5.3 A Cartesian Tensor Approach for Solving the IDP
- 5.4 The Use of Euler-Lagrange and Kane’s Formulations in Deriving Algorithm 5.7
- 5.5 Concluding Remarks
- 5.6 References
- 6 Manipulator Forward Dynamics
- 6.1 Introduction
- 6.2 Previous Results on Manipulator Forward Dynamics
- 6.3 The Generalized Manipulator Inertia Tensor
- 6.4 Implementation and Computational Considerations
- 6.5 Concluding Remarks
- 6.6 References
- 7 Linearized Dynamic Robot Models
- 7.1 Introduction
- 7.2 Linearization Techniques
- 7.3 Joint Space Linearized Dynamic Robot Models
- 7.4 Cartesian Space Robot Dynamic Models and their Linearization
- 7.5 Concluding Remarks
- 7.6 References
- A Recursive Lagrangian Formulation
- B On Moment Vectors and Generalized Forces
- C On Partial Differentiation
- D List of Symbols and Abbreviations