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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