New formulations about dynamics of robots

Abstract

On the basis of new formulations within of this paper, a few important notions and theorems in the dynamics of the mechanical systems, in which the robots are included, will be analyzed. In the view of this, at beginning, the generalized variation law of the inertial and pseudo-inertial tensor will be presented in a new formulation. Using a few differential transformations, as well as matrix exponentials, in the following the kinetic and then acceleration energy will be presented. On the basis of these notions, a few formulations about the fundamentals theorems in the dynamics of the mechanical systems will be also dignified. All these stay at the basis of the generalized dynamics forces (control functions) for the mechanical robot structures.