Abstract
Robot dynamics are embedded in the mathematical foundations of classical mechanics to introduce novel physical interpretations and structural characteristics of the Lagrangian dynamic robot model. Within this framework, the centrality of the inertial matrix emerges. The physical significance of the inertial coefficients is further illuminated by the introduction of the coefficient of coupling of robotic manipulators. The properties of the inertial matrix follow directly from the kinematic and dynamic parameters of the robot. These properties translate into the characteristics of the centrifugal, Coriolis and gravitational components of the dynamic robot model. The novel approach reinforces the need to integrate the mechanical and controller designs of robotic manipulators. The conceptual framework leads to design guidelines for simplifying and reducing the nonlinear kinematic and dynamic coupling of robot dynamics. The development of the paper is applied to illustrate the properties and structural characteristics of industrial robots.
| Original language | English |
|---|---|
| Pages (from-to) | 41-52 |
| Number of pages | 12 |
| Journal | Mechanism and Machine Theory |
| Volume | 20 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 1985 |
| Externally published | Yes |
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ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Mechanical Engineering
- Engineering(all)
Cite this
The inertial characteristics of dynamic robot models. / Tourassis, Vassilios D.; Neuman, Charles P.
In: Mechanism and Machine Theory, Vol. 20, No. 1, 1985, p. 41-52.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - The inertial characteristics of dynamic robot models
AU - Tourassis, Vassilios D.
AU - Neuman, Charles P.
PY - 1985
Y1 - 1985
N2 - Robot dynamics are embedded in the mathematical foundations of classical mechanics to introduce novel physical interpretations and structural characteristics of the Lagrangian dynamic robot model. Within this framework, the centrality of the inertial matrix emerges. The physical significance of the inertial coefficients is further illuminated by the introduction of the coefficient of coupling of robotic manipulators. The properties of the inertial matrix follow directly from the kinematic and dynamic parameters of the robot. These properties translate into the characteristics of the centrifugal, Coriolis and gravitational components of the dynamic robot model. The novel approach reinforces the need to integrate the mechanical and controller designs of robotic manipulators. The conceptual framework leads to design guidelines for simplifying and reducing the nonlinear kinematic and dynamic coupling of robot dynamics. The development of the paper is applied to illustrate the properties and structural characteristics of industrial robots.
AB - Robot dynamics are embedded in the mathematical foundations of classical mechanics to introduce novel physical interpretations and structural characteristics of the Lagrangian dynamic robot model. Within this framework, the centrality of the inertial matrix emerges. The physical significance of the inertial coefficients is further illuminated by the introduction of the coefficient of coupling of robotic manipulators. The properties of the inertial matrix follow directly from the kinematic and dynamic parameters of the robot. These properties translate into the characteristics of the centrifugal, Coriolis and gravitational components of the dynamic robot model. The novel approach reinforces the need to integrate the mechanical and controller designs of robotic manipulators. The conceptual framework leads to design guidelines for simplifying and reducing the nonlinear kinematic and dynamic coupling of robot dynamics. The development of the paper is applied to illustrate the properties and structural characteristics of industrial robots.
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UR - http://www.scopus.com/inward/citedby.url?scp=0021863373&partnerID=8YFLogxK
U2 - 10.1016/0094-114X(85)90056-4
DO - 10.1016/0094-114X(85)90056-4
M3 - Article
VL - 20
SP - 41
EP - 52
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
SN - 0374-1052
IS - 1
ER -