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Table of Contents

1 Introduction.- 1.1 Basic Problems in Robot Manipulator Dynamics.- 1.2 General Remarks on Robot Manipulator Dynamics.- 1.3 Objectives and Motivation.- 1.4 Preview.- 1.5 References.- 2 Notation, Terminology and Background Material.- 2.1 Notation.- 2.2 Rigid Bodies and their Finite Displacement.- 2.3 Robot Manipulators.- 2.4 References.- 3 Cartesian Tensor Analysis.- 3.1 Introduction.- 3.2 Second Order Cartesian Tensors.- 3.3 Properties of Second Order Cartesian Tensors.- 3.4 Cartesian Tensor Algebraic Identities.- 3.5 References.- 4 Cartesian Tensors and Rigid Body Motion.- 4.1 Introduction.- 4.2 On Kinematic Analysis of Rigid Body Motion.- 4.3 On Dynamic Analysis of Rigid Body Motion.- 4.4 References.- 5 Manipulator Inverse Dynamics.- 5.1 Introduction.- 5.2 Previous Results and General Observations on Manipulator Inverse Dynamics.- 5.3 A Cartesian Tensor Approach for Solving the IDP.- 5.4 The Use of Euler-Lagrange and Kane’s Formulations in Deriving Algorithm 5.7.- 5.5 Concluding Remarks.- 5.6 References.- 6 Manipulator Forward Dynamics.- 6.1 Introduction.- 6.2 Previous Results on Manipulator Forward Dynamics.- 6.3 The Generalized Manipulator Inertia Tensor.- 6.4 Implementation and Computational Considerations.- 6.5 Concluding Remarks.- 6.6 References.- 7 Linearized Dynamic Robot Models.- 7.1 Introduction.- 7.2 Linearization Techniques.- 7.3 Joint Space Linearized Dynamic Robot Models.- 7.4 Cartesian Space Robot Dynamic Models and their Linearization.- 7.5 Concluding Remarks.- 7.6 References.- A Recursive Lagrangian Formulation.- B On Moment Vectors and Generalized Forces.- C On Partial Differentiation.- D List of Symbols and Abbreviations.