Dynamics of a Three Degree of Freedom Kinematic Chain.

Abstract

In order to be able to design a control system for high-speed control of mechanical manipulators, it is necessary to understand properly their dynamics. An analysis is presented here of a detailed model of a three-link device which may be viewed as either a leg in a locomotory system, or the first three degrees of freedom of an arm providing for its gross motions. The equations of motion are shown to be non-trivial, yet manageable.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1977
Accession Number
ADA055612

Entities

People

  • Berthold K. P. Horn
  • Ken-ichi Hirokawa
  • Vijay V. Vazirani

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Angular Acceleration
  • Artificial Intelligence
  • Cartesian Coordinates
  • Centrifugal Force
  • Control Systems
  • Coordinate Systems
  • Dynamics
  • Energy
  • Equations
  • Equations Of Motion
  • Gravity
  • Kinetic Energy
  • Manipulators
  • Massachusetts
  • Military Research
  • Potential Energy
  • Simulations

Readers

  • Robotics and Automation.
  • Theoretical Analysis.