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Dynamics Of Motion
1252
Category : Science » Robot Science
. order to generate motion of the robotic mechanism we need to apply forces and . of motion for general robotic mechanism is mathematically quite involved .
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Content Summary :
So far we have focused on the models characterizing the behavior of the
robotic systems whichdescribed how the kinematic parameters (which are
part of the design of the mechanism) and thejoint variables affect the
configuration of the robot. We discussed means of deriving both
forwardkinematics and inverse kinematics for some standard commercial
manipulators. We also brieflydiscussed some methods for computing
inverse kinematics relationships numerically for systemswhere analytic
methods are not directly or easily applicable. Kinematic relationships
characterizepositions and velocities of robotic agents without taking
into consideration their mass and forcesacting on them. In order to
generate motion of the robotic mechanism we need to apply forces and
torques. The subject of study of robot dynamics is both the derivation
of equations of motions while takinginto account the effect of forces
and torques as well as control of robotic mechanisms. Since
thederivation of equations of motion for general robotic mechanism is
mathematically quite involvedand beyond the scope of this lecture, we
will introduce these basic concepts on simple examplesand then discuss
to how they can be generalized to more complex systems.
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