Lectures 20-21: Properties of manipulator dynamics equations In this lecture, you will learn: - Properties of robot mass-matrix, coriolis and gravity vectors. - Passivity property for the robot arm. - Cartesian arm dynamics.
Dan O. Popa, Robotics EE5325, Fall 2008
Dynamics Reading: Chapter 3.3,3.4,3.5,3.6 – F. Lewis
Dan O. Popa, Robotics EE5325, Fall 2008