Abstract
In robotics, as in theoretical mechanics [78], there are two problems to be solved in robot dynamics [35, 67]. The first, which is equivalent to the inverse (first) problem of dynamics, assumes specific motions for the robot components (kinematic equations of motion); it is required to find the motive forces (either moments or direct forces), which cause the actual motion. In order to do this the dynamic forces in the drives and kinematic pairs must also be calculated. The solution of the inverse problem in dynamics makes it possible to match the choice of actuator driver and to calculate the required strength characteristics of the drive elements and robot components.
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© 2003 Springer-Verlag Berlin Heidelberg
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Babitsky, V.I., Shipilov, A.V. (2003). Dynamics of resonant robotic systems. In: Resonant Robotic Systems. Foundations of Engineering Mechanics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-36380-4_2
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DOI: https://doi.org/10.1007/978-3-540-36380-4_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-05563-8
Online ISBN: 978-3-540-36380-4
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