Manipulator Dynamics-1

Due to a rigid body and b both translational and

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Unformatted text preview: a. rigid body, and b. both translational and rotational motions of {B} and P. ) Acceleration of a rigid body – (2) angular acceleration • If there are three frames {A}, {B} and {C}, one may have: • Then we obtain by taking the derivative of both sides with respect to time: which turns out to be • + Angular acceleration in one frame can be expressed in another frame in an iterative way – but could be complicated. That will be used in calculating manipulator dynamics (3) Mass distribution • • For rigid body we have to consider both mass and moment of inertia since a rigid body is free to move in the space with translational and rotational motions. Different...
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