Dynamic Analysis of Robot Manipulators: A Cartesian Tensor Approach

The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In particular, the following problems of rigid-link open-chain manipulator dynam­ ics are considered : i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Computationally efficient solutions of these problems are prerequisites for real­ time robot applications and simulations. Cartesi...