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    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
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Dynamic Analysis of Robot Manipulators: A Cartesian Tensor Approach

Dynamic Analysis of Robot Manipulators: A Cartesian Tensor Approach

Balafoutis, Constantinos A.
Patel, Rajnikant V.

Paperback

Series: The Springer International Engineering and Computer Science, Book 131

Technology & Engineering

ISBN10: 1461367646
ISBN13: 9781461367642
Publisher: Springer Nature
Published: Oct 9 2012
Pages: 292
Weight: 0.96
Height: 0.65 Width: 6.14 Depth: 9.21
Language: English
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.

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