4. Using Jacobian matrices
The Jacobian matrix J and its inverse G or J – 1 have fundamental applications in mechanism analysis and control.
4.1 Calculating static forces
From the kinematic model, we can write the differential model :
Let's assume that the variables q i are directly the variables associated with the relative displacements of the rotary or linear motors. Each of these exerts a force or torque noted γ i , hence for all degrees of freedom a vector of forces
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Using Jacobian matrices
Dynamic control
Bibliography
References
Standardization
International standard (ISO)
- Manipulating industrial robots-Vocabulary. - ISO 8373 - 1994-12-01
French standards (AFNOR)
- Robots manipulateurs industriels. Systèmes de coordonnées et mouvements. - NF EN 29787/ISO 9787 - 11-1992
- Robots manipulateurs industriels. Présentation des caractéristiques. - NF EN 29946/ISO 9946 - 11-1992
- Robots manipulateurs industriels. Sécurité. - NF EN 775...
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