Titlebook: Dynamics of Tree-Type Robotic Systems; Suril Vijaykumar Shah,Subir Kumar Saha,Jayanta Kum Book 2013 Springer Science+Business Media Dordre

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https://doi.org/10.1007/978-1-349-12926-3erse and forward dynamics algorithms are developed. The algorithms take care of the multiple-DOF joints in an efficient manner, as explained in Sect. 4.2.1; in contrast to treating them as a combination of several 1-DOF joints by taking into account the total number of links equal to number of 1-DOF

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Marie-Gabrielle David,Christophe Starzec form of controller used for this purpose. A PID controller is widely used in industries for the control of processes or machines. In a robotic system, e.g., an industrial robot, a PID controller independently controls motion of each joint ignoring the effects of the system’s dynamics. However, for

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Introduction, Trajectory planning, dynamic analysis, obtaining stability criterion, and control are some of the basic issues with such systems. Research in these areas has growing interest and is active field of the robotics.

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Kinematics of Tree-Type Robotic Systems,the help of module-to-module velocity transformations. Using the present derivation, link-to-link velocity transformation (Saha 1999a, b) turns out to be a special case of the module-to-module velocity transformation (Shah et al. 2012a) presented in this chapter.