{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

Manipulator Dynamics-1

Due to a rigid body and b both translational and

Info iconThis preview shows page 1. Sign up to view the full content.

View Full Document Right Arrow Icon
This is the end of the preview. Sign up to access the rest of the document.

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...
View Full Document

{[ snackBarMessage ]}