Mathematical formulation for computing energy of a n-link revolute joint robot manipulator In kinematics analysis of a robot manipulator, utmost importance is given to evaluate the energy required for making a robotic arm move from one position to another for accomplishing any task. Here, a general formulation is derived to evaluate the energy of an n-link robot manipulator. The analysis has taken into consideration the mass of each link, their centroid positions, angular speed and dimensional parameters. Compared to link specific conventional methods, it gives a general framework for computing both the kinetic and potential energy of a robot manipulator. The analytical expressions derived for computing energy are: Further reading Dynamics analysis of 2-link revolute joint robot manipulator M Zubaer Hossain International Conference on Electrical and Computer Engineering ICECE 2004, 28-30 December, Bangladesh, 2004, pp.222-225 Generalized mathematics for energy computation for n-link robot manipulator M Zubaer Hossain Proceedings of International Conference on Computational Methods in Sciences and Engineering ICCMSE, November 2004, Greece, 2004, pp. 211-214 |