Naslov
Modelling of a Five-Axis Articulated Robot Dynamics

Autori
Krajči, Vesna ; Jurišica, Ladislav

Vrsta, podvrsta i kategorija rada
Sažeci sa skupova, sažetak, znanstveni

Izvornik
Proceedings of the 6th International Scientific-Technical Conference on Process Control 2004 / Mikulášek, Petr - Pardubice, 2004, 154-154

ISBN
8071946621

Skup
International Scientific-Technical Conference Process Control 2004

Mjesto i datum
Loučná nad Desnou, Češka Republika, 08.06.2004. - 11.06.2004

Vrsta sudjelovanja
Ostalo

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
modelling, dynamics, robot arm

Sažetak
Two basic approaches of deriving a realistic dynamic robot arm model are used: the Lagrange-Euler method and the recursive Newton-Euler formulation. The Lagrange-Euler approach is based on the concepts of generalized coordinates, energy and generalized force. It contains a frictional force model which includes viscous, dynamic and static friction. An alternative approach, called the recursive Newton-Euler formulation, that includes the forward and the backward equations is also presented. If a joint-space trajectory is given, the velocities and accelerations of each link are recursively calculated, starting at the base and computing forward to the tool (forward equations). These informations are used to compute the forces and moments acting on each link, starting at the tool and calculating backward to the base (backward equations). Both mentioned methods give the same dynamic model which is derived by Mathematica for an educational five-axis articulated robot arm Rhino XR-3.

Izvorni jezik
Engleski

Znanstvena područja
Matematika, Elektrotehnika, Računarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti

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