NEW FORMULATIONS ON THE ACCELERATION ENERGY OF FIRST AND SECOND ORDER APPLIED IN ANALYTICAL MECHANICS
This paper is devoted to the presentation of new formulations on the energies of higher order that are used in the dynamic study of mechanical systems. Integral part of these mechanical systems is the mechanical robot structures, on which an application will be presented in order to highlight the importance of the energies of higher order regarding the dynamic behavior.
All this leads to a more precise control on the transitory motion phases.
Key words: matrix exponentials; dynamics; energies of higher order; multibody systems; robot;
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