# Dynamic Analysis of Manipulator Motion

• Miomir Vukobratović
• Veljko Potkonjak
Part of the Communications and Control Engineering Series book series (CCE, volume 6)

## Abstract

General ideas about the dynamic analysis of manipulator motion are explained in this chapter. We derive a computer algorithm for such an analysis. First, it is necessary to explain what it is meant by the notion of dynamic analysis. By this notion we mean the calculation of all dynamic characteristics which can be useful for a designer in the process of manipulator design or synthesis of its control algorithm. Let us be more precise. We prescribe some manipulation task, start the algorithm, and obtain, as output, dynamic variables such as driving forces and torques in manipulator joints, some other characteristics of actuators, stresses in manipulator segments, the value of elastic de-formations, etc. All these pieces of information help the designers and the engineers in the application of the device. Such a calculation procedure is sometimes called the simulation algorithm. The notion of the simulation of dynamics usually involves only the calculation of motion for the prescribed driving forces and torques, i.e., the integration of the differential equations of motion. But, it we use the term simulation somewhat more liberally, then the calculation of all dynamic variables for the prescribed motion can also be called simulation.

## Keywords

Time Instant Manipulator Motion Virtual Displacement Manipulation Task Rotational Joint
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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## Authors and Affiliations

• Miomir Vukobratović
• 1
• Veljko Potkonjak
• 2