Abstract The main objectives of this chapter are (i) to devise an algorithm for the real-time computed torque control and (ii) to derive the system of second-order ordinary differential equations (ODE) governing the motion of an n-axis manipulator. We will focus on serial manipulators, the dynamics of a much broader class of robotic mechanical systems, namely, parallel manipulators and mobile robots, being the subject of Chapter 10. Moreover, we will study mechanical systems with rigid links and rigid joints and will put aside systems with flexible elements, which pertain to a more specialized realm.


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    Title :

    Dynamics of Serial Robotic Manipulators



    Edition :

    Second Edition


    Publication date :

    2003-01-01


    Size :

    62 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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