J.M. Selig: Geometrical Methods in Robotics (Springer, New York 1996)ĭ.T. Greenwood: Principles of Dynamics (Prentice-Hall, Englewood Cliffs, NJ 1988)į.C. Moon: Applied Dynamics (Wiley, New York 1998) R.S. Ball: A Treatise on the Theory of Screws (Cambridge Univ. J. Angeles: Fundamentals of Robotic Mechanical Systems, 2nd edn. R.M. Murray, Z. Li, S.S. Sastry: A Mathematical Introduction to Robotic Manipulation (CRC, Boca Raton, FL 1994) ![]() R. Featherstone: Rigid Body Dynamics Algorithms (Springer, Berlin, Heidelberg 2007) J. Baumgarte: Stabilization of Constraints and Integrals of Motion in Dynamical Systems, Comput. Baraff: Linear-Time Dynamics using Lagrange Multipliers, Proc. M.W. Walker, D.E. Orin: Efficient Dynamic Computer Simulation of Robotic Mechanisms, Trans. J.Y.S. Luh, M.W. Walker, R.P.C. Paul: On-Line Computational Scheme for Mechanical Manipulators, Trans. R.E. Roberson, R. Schwertassek: Dynamics of Multibody Systems (Springer-Verlag, Berlin/Heidelberg/New York 1988) (Pearson Prentice Hall, Upper Saddle River, NJ 2005) J.J. Craig: Introduction to Robotics: Mechanics and Control, 3rd edn. R. Featherstone: The Calculation of Robot Dynamics using Articulated-Body Inertias, Int. These algorithms are presented in tables for ready access. The goal of this chapter is to introduce the reader to the subject of robot dynamics and to provide the reader with a rich set of algorithms, in a compact form, that they may apply to their particular robot mechanism. Spatial vector algebra is a concise vector notation for describing rigid-body velocity, acceleration, inertia, etc., using six-dimensional (6-D) vectors and tensors. The use of spatial notation has been very effective in this regard, and is used in presenting the dynamics algorithms. In addition to the need for computational efficiency, algorithms should be formulated with a compact set of equations for ease of development and implementation. Such mechanisms include fixed-base robots, mobile robots, and parallel robot mechanisms. The algorithms are presented in their most general form and are applicable to robot mechanisms with general connectivity, geometry, and joint types. This chapter provides efficient algorithms to perform each of these calculations on a rigid-body model of a robot mechanism. ![]() A number of algorithms are important in these applications, and include computation of the following: inverse dynamics, forward dynamics, the joint-space inertia matrix, and the operational-space inertia matrix. Dynamics is important for mechanical design, control, and simulation. The dynamic equations of motion provide the relationships between actuation and contact forces acting on robot mechanisms, and the acceleration and motion trajectories that result.
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