TAILIEUCHUNG - Ebook Fundamentals of robotic mechanical systems: Part 2

(BQ) Part 2 book "Fundamentals of robotic mechanical systems" has contents: Special topics in rigid body kinematics, kinematics of complex robotic mechanical systems, trajectory planning - continuous path operations, dynamics of complex robotic mechanical systems, dynamics of serial robotic manipulators. | 6 Dynamics of Serial Robotic Manipulators Introduction 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 secondorder 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. Inverse vs. Forward Dynamics The two basic problems associated with the dynamics of robotic mechanical systems, namely, the inverse and the forward problems, are thoroughly discussed in this chapter. The relevance of these problems cannot be overstated: the former is essential for the computed-torque control of robotic manipulators, while the latter is required for the simulation and the realtime feedback control of the same systems. Because the inverse problem is purely algebraic, it is conceptually simpler to grasp than the forward problem, and hence, the inverse problem will be discussed first. Moreover, TLFeBOOK 212 6. Dynamics of Serial Robotic Manipulators the inverse problem is also computationally simpler than the forward problem. In the inverse problem, a time-history of either the Cartesian or the joint coordinates is given, and from knowledge of these histories and the architecture and inertial parameters of the system at hand, the torque or force requirements at the different actuated joints are determined as time-histories as well. In the forward problem, current values of the joint coordinates and their first time-derivatives are known at a given instant, the time-histories of the applied torques or forces being also known, along with the architecture and the inertial parameters of the manipulator .

• Cơ khí - Chế tạo máy
• Robotic mechanical systems
• Fundamentals robotic mechanical systems
• Fundamentals robotic mechanical
• Rigid body kinematics
• Complex robotic mechanical systems
• Serial robotic manipulators
• Rigid body mechanics
• Simple robotic manipulators
• Trajectory planning
• Technologies
• Systems Engineering
• robotic
• mechanical
• anatomy
• Mechanical engineering series
• Mechanical engineering
• An overview of robotic mechanical systems
• Mathematical background
• Decoupled serial robots
• Handbook of mechanical engineering
• mechanical design
• mechanical materials
• alloy materials
• Energy Technology
• Technologes