Dynamics

Featherstone, R.; Orin, D.E.

doi:/10.1007/978-3-319-32552-1_3

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Dynamics

Featherstone, R.; Orin, D.E. (2016). Dynamics, in: Siciliano, B. et al. Springer handbook of robotics. pp. 37-66. https://dx.doi.org/10.1007/978-3-319-32552-1_3

In: Siciliano, B.; Khatib, O. (Ed.) (2016). Springer handbook of robotics. Second edition. Springer Verlag: Berlin. ISBN 978-3-319-32550-7; e-ISBN 978-3-319-32552-1. LXXVI, 2227 pp. https://dx.doi.org/10.1007/978-3-319-32552-1, more

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Featherstone, R. Orin, D.E.

Abstract

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. Dynamics is important for mechanical design, control, and simulation. 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. This chapter provides efficient algorithms to perform each of these calculations on a rigid-body model of a robot mechanism. The algorithms are presented in their most general form and are applicable to robot mechanisms with general connectivity, geometry, and joint types. Such mechanisms include fixed-base robots, mobile robots, and parallel robot mechanisms.

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