Abstract
Dynamics, associated with velocity, acceleration, and force, is a key performance for the robotic mechanisms working with high speed or under heavy load [1,2,3]. Dynamic modeling is the determination of the relation between motions and forces of the robotic mechanism [4, 5]. In general, there are two types of dynamic models [6]. One is direct dynamics that determines the mechanism motion being given the actuated joint forces [7, 8]. The other one is inverse dynamics that determines the actuated joint forces being given the trajectory, velocity, and acceleration of the end-effector or moving platform, which is usually applied in control development or optimal design [9,10,11,12,13,14,15,16]. This chapter presents the inverse dynamic modeling method based on the FIS theory.
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Sun, T., Yang, S., Lian, B. (2020). Dynamic Modeling and Analysis of Robotic Mechanism. In: Finite and Instantaneous Screw Theory in Robotic Mechanism. Springer Tracts in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-1944-4_9
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DOI: https://doi.org/10.1007/978-981-15-1944-4_9
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