Acceleration kinematics of robots is divided into forward and inverse acceleration kinematics. To study and develop the acceleration kinematics of robots, we need to introduce the concept of angular acceleration and rigid body acceleration. Links of a robot are considered rigid bodies in relative motion. They will have rotational and translational accelerations. Angular acceleration of a rigid body with respect to a global frame is the time derivative of instantaneous angular velocity of the body. In general, it is a vectorial quantity that is in a different direction than angular velocity. In this chapter we learn acceleration kinematics of robots.
When a body coordinate frame B and a global frame G have a common origin, the time dependent rotation transformation matrix defines angular velocity and acceleration. Forward kinematics of a robot is based on the time derivative of Jacobian matrix. Having the forward acceleration kinematics of a robot, we can determine the inverse acceleration kinematics of the robot algebraically and determine the joint accelerations for a given set of end-effector acceleration, speed, and configuration.
Acceleration Kinematics
Theory of Applied Robotics ; Chapter : 9 ; 489-554
2021-12-08
66 pages
Article/Chapter (Book)
Electronic Resource
English
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