Dynamic effects of active elements of manipulators in dynamic inverse problem resolution

Abstract:

In this work an O(n) formulation is developed to solve the inverse dynamic problem of open-chain robot manipulators, taking into account the inertial effects due to the movement of the rotors of the actuators. The formulation is obtained in a simple and natural way from the dynamic equations of Gibbs-Appell. A three degree of freedom manipulator is used to validate the results obtained through the formulation proposed in this study, and also using the Murphy formulation. It is concluded that both methods deliver similar results.

Año de publicación:

2005

Keywords:

• robotics
• Gibbs-Appell equations
• Manipulators
• Inverse dynamic
• Driving motors

Fuente:

scopus