Abstract The main objectives of this chapter are (i) to devise an algorithm for the real-time computed torque control and (ii) to derive the system of second-order ordinary differential equations (ODE) governing the motion of an n-axis manipulator. We will focus on serial manipulators, the dynamics of a much broader class of robotic mechanical systems, namely, parallel manipulators and mobile robots, being the subject of Chapter 10. Moreover, we will study mechanical systems with rigid links and rigid joints and will put aside systems with flexible elements, which pertain to a more specialized realm.
Dynamics of Serial Robotic Manipulators
Second Edition
01.01.2003
62 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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