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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Acceleration Kinematics


    Contributors:

    Published in:

    Theory of Applied Robotics ; Chapter : 9 ; 489-554


    Publication date :

    2021-12-08


    Size :

    66 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Acceleration Testing and Modeling of Vehicle Kinematics Under Idle Conditions

    Randles, Bryan / Furbish, Christopher / Voss, Daniel et al. | SAE Technical Papers | 2014


    Acceleration Testing and Modeling of Vehicle Kinematics Under Idle Conditions

    Randles, B. / Voss, D. / Ikram, I. et al. | British Library Conference Proceedings | 2014


    Kinematics Model and Acceleration Simulation Algorithm for a Three-Axis Centrifuge

    Yang, Mei / Zhang, Yahong / Zhang, Shuai et al. | British Library Online Contents | 2017


    Brain kinematics in physical model tests with translational and rotational acceleration

    Viano,D. / Aldman,B. / Pape,K. et al. | Automotive engineering | 1997


    Kinematics

    Fossen, Thor I. | Wiley | 2011