We describe the velocity coupling terms of the robot as a matrix which represents how the torque on one joint depends on the velocity of other joints.
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We describe inertia of the robot as a matrix which represents how inertia of a joint depends on the position of all the joints, and how the torque on one joint depends on the acceleration of other joints.
We examine the gravity term and explore the effect of changing robot payload.
We can factorise the joint torque expression into an elegant matrix equation with terms that describe the effects of inertia, Coriolis and centripetal and gravity effects.
We consider a robot with four joints that moves its end-effector in 3D space.
We consider a robot, which has two rotary joints and an arm.