Abstract
This chapter considers the problems of dynamics assuming that robot links are infinitely rigid. The discussion starts with relevant ideas from the theory of mechanisms (kinematic pairs and chains, degrees of freedom, etc.) and then defines the parameters that describe the robot link geometry. Kinematics and dynamics concern free motion of the robot arm. Dynamic model of the robot chain is expanded by introducing the actuator dynamics and elastodynamics of the transmission system. Finally, some issues of control are elaborated.
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© 2003 Springer Science+Business Media Dordrecht
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Vukobratovic, M., Potkonjak, V., Matijevic, V. (2003). Free Motion of a Rigid-Body Robot Arm. In: Dynamics of Robots with Contact Tasks. International Series on Microprocessor-Based and Intelligent Systems Engineering, vol 26. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0397-0_2
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DOI: https://doi.org/10.1007/978-94-017-0397-0_2
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6515-5
Online ISBN: 978-94-017-0397-0
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