June 2021 – Abdur Rosyid's Blog

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Types of Static and Dynamic Analyses

June 11, 2021 by Abdur Rosyid

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 …

Understanding Equations of Motion

June 11, 2021 by Abdur Rosyid

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 …