Based on Mason’s Principle, a hybrid position/force control system can be constructed in such a…

A class of simple tasks may need only trajectory control where the robot end-effecter is…

In this section we will extend Lagrange’s equations of motion obtained for the two d.o.f.…

Lagrangian Dynamics In the Newton-Euler formulation, the equations of motion are derived from Newton's Second…

In this section, we interpret the physical meaning of each term involved in the closed…

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.…