Skip to Main content Skip to Navigation
Journal articles

A geometrical setting for the newtonian mechanics of robots

Abstract : A geometrical setting for the Newtonian mechanics of mechanical manipulators is presented. The configuration space of the mechanical system is modelled by a differentiable manifold. The kinematics of the system is formulated on the tangent and double tangent bundles of the configuration space, and forces are defined as elements of the cotangent bundle. The dynamical properties of the system are introduced by specifying a Riemannian metric on the configuration space. The metric is used in order to generate the generalized momenta and the kinetic energy from the generalized velocities, and the connection it induces makes it possible to formulate a generalization of Newton's second law relating generalized forces and generalized accelerations.
Document type :
Journal articles
Complete list of metadata

Cited literature [4 references]  Display  Hide  Download
Contributor : Christian Cardillo <>
Submitted on : Friday, March 7, 2014 - 12:24:04 PM
Last modification on : Monday, July 22, 2019 - 11:46:01 AM
Long-term archiving on: : Sunday, April 9, 2017 - 9:58:50 PM


Files produced by the author(s)


  • HAL Id : hal-00956482, version 1


Reuven Segev, Amit Ailon. A geometrical setting for the newtonian mechanics of robots. Journal of The Franklin Institute, Elsevier, 1986, 322 (3), pp.173-183. ⟨hal-00956482⟩



Record views


Files downloads