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Closed-form Kinematic and Dynamic Models of an Industrial-like RRR Robot
Descripción
Cinematica
Sin etiquetas
robotica
cinematica robotrrr
rrr
Mapa Mental por
Jhon Lagos
, actualizado hace más de 1 año
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Creado por
Jhon Lagos
hace más de 8 años
22
0
0
Resumen del Recurso
Closed-form Kinematic and Dynamic Models of an Industrial-like RRR Robot
In the article the closed form kinematic and dynamic models of a robot with three degrees of freedom of rotation RRR is presented.
The derivation of the models and estimating their parameters are explained
Kinematic Model
This allows calculation of the corresponding sets a given path movements of the robot end effector
Dinamic Model
It provides information about the control inputs to be applied to the joint actuators to achieve the desired movements of the robot
RRR-robot
It is used as a testbed for a variety of nonlinear control laws.
It is used to solve the nonlinear dynamics of plants and to enable simplified design of motion controllers
EXPERIMENTAL SET -UP
The robot has three angular degrees of freedom (DOF): waist, shoulder and elbow.
Motion controllers running on a platform of hardware / software-based PC that allows great flexibility in the evaluation of a variety of control laws
Robot kinematics in closed-form
It is done by the Denavit-Hartenberg parameters according to the angles and distances of the robot
Advantages
allows direct recognition of robot configurations
This lets you explicitly control the actual position. You can reach every point in the workspace
Less computational effort
ROBOT DYNAMICS IN CLOSED-FORM
For this, the Euler-Lagrange method is used, taking into account each of the robot varibles.
MODEL VERIFICATION
A kinematic analysis of a particular task (writing) is presented.
A path that allows the set writing set.
For this a series of calculations are performed, taking into account the length of the links, distances and rotation angles.
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