Application of unnormalized quasi-velocities integrals

Abstract

This paper presents considerations concerning usefulness of integrals of unnormalized quasi-velocities. These quasi-velocities described by Jain and Rodriguez (IEEE Transactions on Robotics and Automation 11, 571 -84, 1995) are obtained as a result of diagonalization of the manipulator mass matrix in velocity space. Equations of motion are expressed in terms of generalized coordinates and an unnormalized velocity vector. Both quasi-velocities and their integrals can serve as a tool for improvement of manipulator dynamics. It is shown that sometimes there exist integrals of these quasi-velocities in explicit analytical form for a 2 d.o.f. manipulator. In other cases one can calculate integrals of unnormalized quasi-velocities using numerical methods. The numerically procedure was used for 3 d.o.f. three-dimensional DDArm robot.

Keywords

dynamic properties manipulator inertia matrix manipulators quasi-velocities

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