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112 Robot Dynamics
We shall use Lagrange’s equation to derive the general robot arm dynamics.
Let us first get a feel for what is going on by considering some examples.
EXAMPLE 3.2–1: Dynamics of a Two-Link Polar Arm
The kinematics for a two-link planar revolute/prismatic (RP) arm are
given in Example A.2–3. To determine its dynamics examine Figure 3.2.3,
where the joint-variable and joint-velocity vectors are
(1)
The corresponding generalized force vector is
(2)
Figure 3.2.3: Two-link planar RP arm.
Copyright © 2004 by Marcel Dekker, Inc.
