Titlebook: Dynamics of Manipulation Robots; Theory and Applicati Miomir Vukobratović,Veljko Potkonjak Textbook 1982 Springer-Verlag Berlin, Heidelberg

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Dynamical Method for the Evaluation and Choice of Industrial Manipulators,One of the basic reasons for studying the dynamics of active mechanisms applicable to robotics is that it is desirable to be thoroughly acquainted with the dynamical properties of robots-manipulators during their design.

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Textbook 1982e dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de­ sign of manipulation mechanisms with some optimal performances. The rapid development of a new class of mechanisms, which may be referred to as active mechanisms, contribu

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General Remarks about Robot and Manipulator Dynamics, and manipulator theory has developed in many research centers without exercising any significant influence on the designers and manufacturers of actual manipulation devices or robots in general. Thus there has existed a certain discrepency between the existing practice and the often too academically oriented theory.

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0178-5354 proach the dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de­ sign of manipulation mechanisms with some optimal performances. The rapid development of a new class of mechanisms, which may be referred to as active mechanisms

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Who Is the Other Woman? An Introductionnce between the number of d.o.f. of the whole manipulator (considered as a dynamical system), and the number of d.o.f. of the gripper (considered as the last rigid body in the chain). These two numbers need not be equal. The number of manipulator d.o.f. depends on the number of joints and the number

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Who Is the Other Woman? An Introductionshape functions and a (Ritz-Kantorovitch) series expansion of the distributed deformation coordinates, the equations of motion are ordinary differential equations. They are, in general, nonlinear; a linearization with respect to a prescribed reference motion yields linear equations. This method is d

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