Dynamics Research of Robot Manipulator

The main strategy in analyzing the motion of a rigid body is to split the motion into the linear motion of the CM and the angular motion of the body about its CM. This is because all particles composing the body show the same relative angular motion about the CM. In other words, one can describe the motion of the rigid body as a whole rather than those of the particles individually. The physical characteristics of a rigid body can be described by its inertial properties: mass and moment of inertia. For this reason, a major portion of discussion will be dedicated to the inertial properties of the rigid body: moment of inertia & inertia tensor