Dynamic Analysis of Robot Manipulators A Cartesian Tensor Approach

Dynamic Analysis of Robot Manipulators A Cartesian Tensor Approach / by Constantinos A. Balafoutis, Rajnikant V. Patel.

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...

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Bibliographic Details
Main Authors: Balafoutis, Constantinos A. (Author), Patel, Rajnikant V. (Author)
Corporate Author: SpringerLink (Online service)
Format: eBook
Language:English
Published: New York, NY : Springer US : Imprint: Springer, 1991.
Edition:1st ed. 1991.
Series:The Springer International Series in Engineering and Computer Science, 131
Springer eBook Collection.
Subjects:
Control engineering.
Robotics.
Mechatronics.
Electrical engineering.
Electronic resources (E-books)
Online Access:Click to view e-book
Holy Cross Note:Loaded electronically.
Electronic access restricted to members of the Holy Cross Community.
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.

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