Title :
A Characteristics Analysis of Manipulator Dynamics using Principal Transformations
Author_Institution :
Department of Mechanical Engineering and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139
Abstract :
A new approach to the geometrical representation of manipulator dynamics is presented. Inertia ellipsoid, which is used to represent dynamic characteristics of a single rigid body, is extended to a general ellipsoid for a series of rigid bodies in order to represent the manipulator dynamics. By drawing the generalized inertia ellipsoid in space, we can visualize the characteristics of manipulator. The definition and properties of generalized inertia ellispoid are presented along with examples.
Keywords :
Angular velocity; Bismuth; Couplings; Jacobian matrices; Kinetic energy; Kinetic theory; Manipulator dynamics; Optical wavelength conversion; Tellurium; Tensile stress;
Conference_Titel :
American Control Conference, 1982
Conference_Location :
Arlington, VA, USA
