A Geometrical Setting for the Newtonian Mechanics of Robots

✍ Scribed by Reuven Segev; Amit Ailon

• Publisher: Elsevier Science
• Year: 1986
• Tongue: English
• Weight: 906 KB
• Volume: 322
• Category: Article
• ISSN: 0016-0032
• DOI: 10.1016/0016-0032(86)90051-7

✦ Synopsis

A geometrical setting for the Newtonian mechanics of mechanical manipulators is presented. The configuration space of the mechanical system is modelled by a d&erentiable manifold. The kinematics of the system is formulated on the tangent and double tangent bundles of the configuration space, andforces are defined as elements of the cotangent bundle. The dynamical properties of the system are introduced by spectfying a Riemannian metric on the configuration space. The metric is used in order to generate the generalized momenta and the kinetic energy from the generalized velocities, and the connection it induces makes it possible to formulate a generalization of Newton's second law relating generalizedforces and generalized accelerations.