In this chapter, we analyze the dynamic behavior of robot mechanisms. The dynamic behavior is…

We have found that the equivalent joint torques are related to the endpoint force by…

Robots physically interact with the environment through mechanical contacts. Mating work pieces in a robotic…

Now that we know the basic properties of the Jacobian, we are ready to formulate…

The Jacobian plays an important role in the analysis, design, and control of robotic systems.…

In the previous chapter, the position and orientation of the manipulator end-effecter were evaluated in…

Consider the five-bar-link planar robot arm Note that Joint 2 is a passive joint. Hence,…

The vector kinematic equation derived in the previous section provides the functional relationship between the…

Kinematics is Geometry of Motion. It is one of the most fundamental disciplines in robotics,…

Primitive joints can be arranged in parallel as well as in series. Figure 3.2.1 illustrates…