Dynamic analysis of robot manipulators : a Cartesian tensor approach

C.A. Balafoutis and R.V. Patel


  • 1 Introduction.- 1.1 Basic Problems in Robot Manipulator Dynamics.- 1.2 General Remarks on Robot Manipulator Dynamics.- 1.3 Objectives and Motivation.- 1.4 Preview.- 1.5 References.- 2 Notation, Terminology and Background Material.- 2.1 Notation.- 2.2 Rigid Bodies and their Finite Displacement.- 2.3 Robot Manipulators.- 2.4 References.- 3 Cartesian Tensor Analysis.- 3.1 Introduction.- 3.2 Second Order Cartesian Tensors.- 3.3 Properties of Second Order Cartesian Tensors.- 3.4 Cartesian Tensor Algebraic Identities.- 3.5 References.- 4 Cartesian Tensors and Rigid Body Motion.- 4.1 Introduction.- 4.2 On Kinematic Analysis of Rigid Body Motion.- 4.3 On Dynamic Analysis of Rigid Body Motion.- 4.4 References.- 5 Manipulator Inverse Dynamics.- 5.1 Introduction.- 5.2 Previous Results and General Observations on Manipulator Inverse Dynamics.- 5.3 A Cartesian Tensor Approach for Solving the IDP.- 5.4 The Use of Euler-Lagrange and Kane's Formulations in Deriving Algorithm 5.7.- 5.5 Concluding Remarks.- 5.6 References.- 6 Manipulator Forward Dynamics.- 6.1 Introduction.- 6.2 Previous Results on Manipulator Forward Dynamics.- 6.3 The Generalized Manipulator Inertia Tensor.- 6.4 Implementation and Computational Considerations.- 6.5 Concluding Remarks.- 6.6 References.- 7 Linearized Dynamic Robot Models.- 7.1 Introduction.- 7.2 Linearization Techniques.- 7.3 Joint Space Linearized Dynamic Robot Models.- 7.4 Cartesian Space Robot Dynamic Models and their Linearization.- 7.5 Concluding Remarks.- 7.6 References.- A Recursive Lagrangian Formulation.- B On Moment Vectors and Generalized Forces.- C On Partial Differentiation.- D List of Symbols and Abbreviations.

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書名 Dynamic analysis of robot manipulators : a Cartesian tensor approach
著作者等 Balafoutis, C. A.
Patel, Rajnikant V.
Patel R.V.
Balafoutis C.A.
シリーズ名 The Kluwer international series in engineering and computer science
出版元 Kluwer Academic Publishers
刊行年月 c1991
ページ数 xii, 292 p.
大きさ 25 cm
ISBN 0792391454
NCID BA12392615
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言語 英語
出版国 アメリカ合衆国