i] is a generalized force
corresponding to the ith quasi-coordinate, and k is the number of quasi-coordinates.
Thus, the elastic potential energy is determined as a generalized force
Generally for this purpose relation of the external torque vector with generalized force
through the Jacobian matrix of manipulator is used.
Q = the generalized force
applied to the ith generalized coordinate
3S(i)] can be transformed to the generalized force
The generalized force
vector is obtained using expression:
As input in the model, using actuators, can be chose between the generalized force
and position/speed/acceleration of the motor joints.
i] (t) is the component of the generalized force
acting along the [x.
The J-integral discovered independently by Rice (1968) and Cherepanov (1968) originated from a conservation law given by Eshelby (1951) who introduced an integral having the meaning of a generalized force
on an elastic singularity in a continuum lattice (Bui, 2006).
Which generalized force
gives the required gripping force?
2] are the generalized forces
vectors, superscript 'd' denotes rigid disc.
The resulting functions transform the motion description of the system from generalized displacements x and generalized forces