Dynamic Analysis and Design of Robotic Manipulators Using Generalized Inertia Elipsoids |
Contents
Formulation of Link Parameters | 5 |
Formulation of Generalized Inertia Ellipsoid | 14 |
Interpretation of Generalized Inertia Ellipsoid | 35 |
Common terms and phrases
3xn matrix analyzing angular velocity CATIA Data Base center of mass CHOSEN JOINT constraint equation coordinate frame cose 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 joint variable velocity kinetic energy link parameters manipulator dynamics mass of link Mass Properties Data matrix associated matrix G modified module moment of inertia n-degree-of-freedom robot nonlinear forces nx1 vector orthogonal matrix Output Generating Program principal axes principal axis prismatic joint robot quadratic form Result of three-degree-revolute Result under constraint revolute and prismatic Robot Configuration Robot Geometry robot manipulator robot MODEL sine subroutines symmetric matrix variable velocity vector velocity of link world frame әт Ө Ө Ө