Accession Number:

ADA055612

Title:

Dynamics of a Three Degree of Freedom Kinematic Chain.

Descriptive Note:

Technical memo.,

Corporate Author:

MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Report Date:

1977-10-01

Pagination or Media Count:

60.0

Abstract:

In order to be able to design a control system for high-speed control of mechanical manipulators, it is necessary to understand properly their dynamics. An analysis is presented here of a detailed model of a three-link device which may be viewed as either a leg in a locomotory system, or the first three degrees of freedom of an arm providing for its gross motions. The equations of motion are shown to be non-trivial, yet manageable.

Subject Categories:

  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE