Dynamic Analysis of Robot Manipulators

Dynamic Analysis of Robot Manipulators
Author :
Publisher : Springer Science & Business Media
Total Pages : 310
Release :
ISBN-10 : 0792391454
ISBN-13 : 9780792391456
Rating : 4/5 (54 Downloads)

Book Synopsis Dynamic Analysis of Robot Manipulators by : Constantinos A. Balafoutis

Download or read book Dynamic Analysis of Robot Manipulators written by Constantinos A. Balafoutis and published by Springer Science & Business Media. This book was released on 1991-03-31 with total page 310 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 forward dynamics, and iii) generation of linearized dynamic models. Com putationally efficient solutions of these problems are prerequisites for real time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational algorithms are based. In particular, it is shown in this monograph that by exploiting the relationships between second order Cartesian tensors and their vector invariants, a number of new tensor vector identities can be obtained. These identities enrich the theory of Carte sian tensors and allow us to manipulate complex Cartesian tensor equations effuctively. Moreover, based on these identities the classical vector descrip tion for the Newton-Euler equations of rigid body motion are rewritten in an equivalent tensor formulation which is shown to have computational advan tages over the classical vector formulation. Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics. XlI Application of this tensor methodology to the dynamic analysis of rigid-link open-chain robot manipulators is simple and leads to an efficient fonnulation of the dynamic equations of motion.


Dynamic Analysis of Robot Manipulators Related Books

Dynamic Analysis of Robot Manipulators
Language: en
Pages: 310
Authors: Constantinos A. Balafoutis
Categories: Technology & Engineering
Type: BOOK - Published: 1991-03-31 - Publisher: Springer Science & Business Media

DOWNLOAD EBOOK

The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the f
Dynamic Analysis of Robot Manipulators
Language: en
Pages: 292
Authors: Constantinos A. Balafoutis
Categories: Technology & Engineering
Type: BOOK - Published: 2012-10-09 - Publisher: Springer

DOWNLOAD EBOOK

The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the f
Dynamic Analysis of Robot Manipulators
Language: en
Pages: 301
Authors: Constantinos A. Balafoutis
Categories: Technology & Engineering
Type: BOOK - Published: 2012-12-06 - Publisher: Springer Science & Business Media

DOWNLOAD EBOOK

The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the f
Modelling and Control of Robot Manipulators
Language: en
Pages: 391
Authors: Lorenzo Sciavicco
Categories: Technology & Engineering
Type: BOOK - Published: 2012-12-06 - Publisher: Springer Science & Business Media

DOWNLOAD EBOOK

Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety
Flexible Robot Manipulators
Language: en
Pages: 579
Authors: M. Osman Tokhi
Categories: Technology & Engineering
Type: BOOK - Published: 2008-05-20 - Publisher: IET

DOWNLOAD EBOOK

This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previousl