FORMULATIONS IN ADVANCED SYSTEMS DYNAMICS
On the basis of new formulations, in this paper, a few important dynamics notions, such as acceleration energy of first and second order, as well as differential principles from analytical mechanics will be analyzed. These have been applied for multibody mechanical systems, such as robots. Initially, in this paper the applications of the matrix exponentials in the forward kinematics have been shortly presented. Based on D’Alembert-Lagrange principle, written in the generalized form, a few formulations on the third order differential equations of motion are described. In the final part of this paper the formulations have been applied on a 2TR-type mechanical robot structure.
Key words: matrix exponentials; dynamics; energies of higher order; multibody systems; robotics
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