A geometrical setting for the Newtonian mechanics of robots (Q1820608): Difference between revisions
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Latest revision as of 23:35, 29 July 2024
scientific article
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English | A geometrical setting for the Newtonian mechanics of robots |
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A geometrical setting for the Newtonian mechanics of robots (English)
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1986
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A Newtonian mechanics is developed for modelling a system of mechanical manipulators. The control parameters take the role of forces. The configuration space is assumed to be a differentiable manifold Q. The first and second tangent bundles TQ and \(T^ 2Q\) are used to describe velocities and accelerations. The elements of the cotangent bundle \(T^*Q\) are called covectors and interpreted as forces. A nonsingular, symmetric and positive definite bilinear form g is assumed on TQ which is obtained from a differentiable mapping \(g: TQ\to T^*Q\). The form g is used to introduce the kinetic energy and the generalized momentum. There is a unique parallel translation which preserves the kinetic energy. A geometric invariant formulation of the equations of motion in Newtonian form is constructed. Free motion of the system is defined for vanishing force fields and used to introduce normal coordinates.
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mechanical manipulators
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control parameters
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configuration space
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differentiable manifold
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tangent bundles
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kinetic energy
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generalized momentum
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parallel translation
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geometric invariant formulation
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