Projecting robot dynamics onto trajectories

Abstract Machines and mechanisms realize processes, from the shaping process of a milling machine motion an automotive system to trajectory realization robot. The dynamics generated by properly chosen set constraints in combination with appropriate drive is designed meet prescribed requirements process, which done projecting equations on dynamics. We get nonlinear relations, represent terms required motion. A well-known example projection arbitrary many robot degrees freedom (DOFs) given path resulting one DOF only, coordinate s. Application this idea can be used construct mobility space $(\ddot{s}, \dot{s}, s)$ for any coordinates constraints. paper presents corresponding approach n-link robots applying multibody theory. Method might interesting layout machines mechanisms. Practical aspects are discussed, given.