Robot Modeling and Control by unknow

Author:unknow
Language: eng
Format: epub
ISBN: 9781119524045
Publisher: John Wiley & Sons, Incorporated
Published: 2020-02-14T12:00:00+00:00

(8.19)

where .

Example 8.1.

Consider the two-link manipulator shown in Figure 8.8 whose actuators are both located on the robot base. In this case we have

(8.20)

(8.21)

Figure 8.8 Two-link manipulator with remotely driven link.

For the following discussion, assume for simplicity that the joint variables qk, and actuator variables , τk are related as follows

(8.22)

(8.23)

Then the equations of motion of the manipulator can be written componentwise, for k = 1, …, n as

(8.24)

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