3962785
Description
Mind Map by Jhon Lagos, updated more than 1 year ago
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Created by Jhon Lagos
about 9 years ago
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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
- 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
- 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
- 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
- It is used as a testbed for a variety of nonlinear control laws.
- 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
- The robot has three angular degrees of
freedom (DOF): waist, shoulder and elbow.
- 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
- allows direct recognition of robot configurations
- It is done by the Denavit-Hartenberg parameters
according to the angles and distances of the robot
- ROBOT DYNAMICS IN CLOSED-FORM
- For this, the Euler-Lagrange method is used,
taking into account each of the robot varibles.
- 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.
- A path that allows the set
writing set.
- A kinematic analysis of a particular
task (writing) is presented.
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