New Formulations in the Applied Mechanics to Robotics

摘要

The algorithm of the dynamic control functions achieves a complex modeling regarding the behavior of any mechanical robot structure. First of all, considering the kinetic links dominated of stiffness hypothesis, on the basis of the new formulations with matrix exponentials, in this paper, the differentials expressions answerable to the forward kinematics of mechanical robot structures were presented. On the basis of these equations, in the following, the generalized dynamics forces were also analyzed for the robots with rigid and elastic structure