Equimomental Systems and Robot Dynamics
J.M. Selig
https://doi.org/10.19124/ima.2015.001.21
Abstract
Three different concepts from the past are reviewed from a more modern standpoint. Constructing an equimomental system of four point-masses to an arbitrary rigid-body; the conditions for the generalised mass matrix of a serial robot to be constant and how to dynamically balance an arbitrary rigid body so that it is symmetrical about a given axis. Connections are made to the geometry of a 3-dimensional Veronese variety.