Basics
Force and Compliance Controls
A class of simple tasks may need only trajectory control where the robot end-effecter is moved merely along…
August 11, 2021 · Prabhu TLBasics
Basics
Inertia Matrix
In this section we will extend Lagrange’s equations of motion obtained for the two d.o.f. planar robot to…
August 11, 2021 · Prabhu TLBasics
Lagrangian Formulation of Robot Dynamics
Lagrangian Dynamics In the Newton-Euler formulation, the equations of motion are derived from Newton’s Second Law, which relates…
August 11, 2021 · Prabhu TLBasics
Physical Interpretation of the Dynamic Equations
In this section, we interpret the physical meaning of each term involved in the closed form dynamic equations…
August 11, 2021 · Prabhu TLBasics
Dynamics
In this chapter, we analyze the dynamic behavior of robot mechanisms. The dynamic behavior is described in terms…
August 11, 2021 · Prabhu TLBasics
Duality of Differential Kinematics and Statics
We have found that the equivalent joint torques are related to the endpoint force by the Jacobian matrix,…
August 11, 2021 · Prabhu TLBasics
Statics
Robots physically interact with the environment through mechanical contacts. Mating work pieces in a robotic assembly line, manipulating…
August 11, 2021 · Prabhu TLBasics
Inverse Kinematics of Differential Motion
Now that we know the basic properties of the Jacobian, we are ready to formulate the inverse kinematics…
August 11, 2021 · Prabhu TLBasics
Properties of the Jacobian
The Jacobian plays an important role in the analysis, design, and control of robotic systems. It will be…
August 11, 2021 · Prabhu TLBasics
Differential Motion
In the previous chapter, the position and orientation of the manipulator end-effecter were evaluated in relation to joint…
August 11, 2021 · Prabhu TL