## Dynamic analysis and design of robotic manipulators using generalized inertia elipsoids |

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### Contents

Formulation of Link Parameters | 5 |

Formulation of Generalized Inertia Ellipsoid | 14 |

Interpretation of Generalized Inertia Ellipsoid | 35 |

4 other sections not shown

### Common terms and phrases

3xn matrix analyzing angular velocity CATGIMDL CATIA Data Base center of mass CHOSEN JOINT constraint equation 64 coordinate frame coupled joint robot create Data Retrieval Program described with respect diagonal matrix eigenvalues end effector velocity end hand frame of link Geometry Data geometry interface CATGEO GIE Analysis Program GIE configuration GIE shape homogeneous transformation i-th link Inertia Ellipsoid inertia of link inertia tensor Input Parameter Table inverse matrix J3xn Jacobian matrix joint variable velocity joint velocity vector kinetic energy Komatsu Ltd link parameters manipulator dynamics mass of link Mass Properties Data Mass Properties Retrieval matrix associated matrix G modified module n-degree-of-freedom robot nonlinear forces nx1 vector orientation orthogonal matrix Output Generating Program principal axes prismatic joint robot quadratic form Result of three-degree-revolute revolute and prismatic Robot Configuration Robot Geometry robot manipulator robot MODEL SET whose identifier subroutines symmetric matrix variable velocity vector velocity of link world frame