Physical Interpretation of the Dynamic Equations
In this section, we interpret the physical meaning of each term involved…
Duality of Differential Kinematics and Statics
We have found that the equivalent joint torques are related to the…
Statics
Robots physically interact with the environment through mechanical contacts. Mating work pieces…
Inverse Kinematics of Differential Motion
Now that we know the basic properties of the Jacobian, we are…
Properties of the Jacobian
The Jacobian plays an important role in the analysis, design, and control…
Differential Motion
In the previous chapter, the position and orientation of the manipulator end-effecter…
Kinematics of Parallel Link Mechanisms
Consider the five-bar-link planar robot arm Note that Joint 2 is a…
Inverse Kinematics of Planar Mechanisms
The vector kinematic equation derived in the previous section provides the functional…


