By Constantinos A. Balafoutis, Rajnikant V. Patel

The goal of this monograph is to provide computationally effective algorithms for fixing uncomplicated difficulties in robotic manipulator dynamics. In par­ ticular, the subsequent difficulties of rigid-link open-chain manipulator dynam­ ics are thought of : i) computation of inverse dynamics, ii) computation of ahead dynamics, and iii) iteration of linearized dynamic types. Com­ putationally effective strategies of those difficulties are necessities for genuine­ time robotic functions and simulations. Cartesian tensor research is the mathematical beginning on which the above pointed out computational algorithms are established. particularly, it really is proven during this monograph that by means of exploiting the relationships among moment order Cartesian tensors and their vector invariants, a couple of new tensor­ vector identities could be acquired. those identities enhance the idea of Carte­ sian tensors and make allowance us to control complicated Cartesian tensor equations effuctively. additionally, in keeping with those identities the classical vector descrip­ tion for the Newton-Euler equations of inflexible physique movement are rewritten in an an identical tensor formula that is proven to have computational advan­ tages over the classical vector formula. hence, in accordance with Cartesian tensor research, a conceptually uncomplicated, effortless to enforce and computationally effective tensor technique is gifted during this monograph for learning classical inflexible physique dynamics. XlI program of this tensor method to the dynamic research of rigid-link open-chain robotic manipulators is straightforward and results in an effective fonnulation of the dynamic equations of motion.