Titlebook: Dynamic Analysis of Robot Manipulators; A Cartesian Tensor A C. A. Balafoutis,R. V. Patel Book 1991 Springer Science+Business Media New Yor

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Manipulator Inverse Dynamics,imum-time (or near minimum-time) trajectory planning [.]. Moreover, inverse dynamics are also taken into consideration in defining manipulability measures of robot arms. (Manipulability is usually expressed as a quantitative measure of a robot arm’s manipulating ability in positioning and orienting

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Linearized Dynamic Robot Models,nd friction, actuator and sensor errors, and payload variations which are not taken into account in the dynamic model. Therefore, a feedback/feedforward control system is needed to remedy this situation

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Notation,Terminology and Background Material,r has two main sections: Section 2.2 contains results from rigid body kinematics. In particular, the.of a rigid body in the real world or physical space is defined and its.in this space is reviewed. Section 2.3 is concerned with the geometric description of rigid-link open-chain robot manipulators a

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