Introduction to Robotics

Mechanics and Control

4th Edition

Chapter 06
Manipulator Dynamics

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Figure 6.1
The inertia tensor of an object describes the object’s mass
distribution. Here, the vector AP locates the differential volume
element, d.

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Figure 6.2
A body of uniform density.

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Figure 6.3
. at the center of mass of a body causes the body to
A force F acting
accelerate at C.
.

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Figure 6.4
A moment N is acting on a body,. and the body is rotating with
velocity ω and accelerating at ω.

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Figure 6.5
The force balance, including inertial forces, for a single manipulator
link.

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Figure 6.6
Two-link planar manipulator with point masses at distal ends of
links.

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Figure 6.7
The RP manipulator of Example 6.5.

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Figure 6.8
Two-link nonplanar manipulator with point masses at distal ends of
links.

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Figure 6.9
One-link “manipulator” of Exercise 6.12.

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Figure 6.10
PR manipulator of Exercise 6.16.

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Figure 6.11
Cart and simple pendulum.

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