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118 Robot Dynamics
(15)
where
(16)
These manipulator dynamics are in the standard form
(17)
with M(q) the inertia matrix, V(q, ) the Coriolis/centripetal vector, and G(q)
the gravity vector. Note that M(q) is symmetric.
EXERCISE 3.2–3: Dynamics of a Three-Link Cylindrical Arm
We study the kinematics of a three-link cylindrical arm in Example A.2–
1. In Figure 3.2.5 the joint variable vector is
q=[θ h r] T (1)
Show that the manipulator dynamics are given by
Copyright © 2004 by Marcel Dekker, Inc.
