By D. Sc., Ph. D. Miomir Vukobratović, Ph. D. Veljko Potkonjak (auth.)
This monograph represents the 1st booklet of the sequence entitled "SCI ENTIFIC basics OF ROBOTICS". the purpose of this monograph is to ap proach the dynamics of energetic mechanisms from the point of view of its program to the synthesis of complicated movement and computer-aided de signal of manipulation mechanisms with a few optimum performances. The quick improvement of a brand new classification of mechanisms, that could be often called energetic mechanisms, contributed to their program in quite a few environments (from underwater to cosmic) . due to a few particular fea tures, those mechanisms require very cautious description, either in a mechanical feel (kinematic and dynamic) and within the synthesis of algo rithms for particular monitoring of the above movement lower than insufficiently outlined working stipulations. Having additionally in brain the necessity for a truly speedy (even real-time) calculation of method dynamics and for disposing of, in precept, the error made whilst forming mathematical types "by hand" this monograph will basically current tools for computerized for mUlation of dynamic equations of movement of energetic spatial mechanisms. except those computer-oriented equipment, point out might be made up of all these tools that have preceded the computer-oriented strategies, predominantly constructed for various difficulties of inflexible physique dynamics. If we want to systematically determine the origins of the medical self-discipline, that could be referred to as robotic dynamics, we needs to keep in mind a few teams and contributors, who, through fixing genuine difficulties within the synthe sis and keep watch over of synthetic movement, have contributed to a gentle formation of this discipline.
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Extra resources for Dynamics of Manipulation Robots: Theory and Application
The control of orbital craft and satellites is very similar to the dynamics of active spatial mechanisms because it is necessary to determine the driving forces and torques in the joints between the bodies, these being based on previously determined inertial forces and moments and external forces and moments, for which a kinematic analysis of the system is necessary. The requirements of and the dynamic analysis of active mechanisms hence do not differ from the global requirements of those methods.
Definition of the generalized coordinate in the case of "specificity" The definition of generalized coordinates in the case of "specificity" is shown in Fig. 5. The existence of "specificity" have to be given to the algorithm via special indicators. If S. is a linear joint, then the corresponding generalized cordi nate J q. e. qj=ISjsjl(Fig. 3). computation of transition matrices. Let us introduce the coordinate systems. First, there is an external non-moving Cartesian coordinate system oxyz. A vertical z-axis is suitable but is not obligatory.
Introducing the 6n coordinates values and their first and second derivatives as functions of the corresponding values of generalized coordinates in the 6n preceding equations leads, after eliminating the generalized connection forces, to 6n - h Lagrange equations for the real system. This method is of theoretical interest only and does not provide any possibility of obtaining a matrix form of the system of equations. Renaud [20, 21J derives the motion equations for the system of n+l bodies, forming body ° with ~1e structure of a tree in relation to the referent the coordinate system 00' The permissible rela-tive motions of the adjacent bodies are rotation and translation (Fig.
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