Robot Dynamics Lecture Notes - ETH Z

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Robot Dynamics Lecture NotesRobotic Systems Lab, ETH ZurichHS 2017Contents1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . of Positions . . . . . . . . . . . . . . . . . .6Cartesian coordinates . . . . . . . . . . . . . . . . . . . . . .6Cylindrical coordinates . . . . . . . . . . . . . . . . . . . . .7Spherical coordinates . . . . . . . . . . . . . . . . . . . . . . Velocity.

these forces can come from different sources. A robot arm moving in free space is driven by the actuator forces acting on the joints, while a legged robot additionally encounters interaction forces at its feet and flying vehicles are kept in the air due to aerodynamic forces.

  Lecture, Notes, Dynamics, Force, Robot, Robot dynamics lecture notes