Month: June 2021

Statics analysis in robotics as commonly taught is as simple as relating the external static wrench applied to the robot’s end-effector to the joint torque through the Jacobian of the robot. By using the robot’s Jacobian, there is duality relation between statics and velocities. In other words, the robot’s Jacobian relates not only the joint …

A flexible body dynamics is commonly expressed as follows: Mxdd + (C + Cr + Cf) xd + Kx + Fg= F(t) …………………………………….(Eq. 1) where M, C, Cr, Cf, and K respectively denote the inertia, damping, Coriolis, Centrifugal, and stiffness matrices, whereas x, xd, and xdd denote the displacement, velocity, and acceleration vectors. Fg and …