Desarrollo de un módulo de construcción del modelo dinámico inverso para un manipulador robótico industrial

 

محفوظ في:
التفاصيل البيبلوغرافية
المؤلفون: Hossian, Alejandro, Alveal, Maximiliano, Carabajal, Roberto, Echeverria, Cesar, Merlino, Hernan
التنسيق: artículo original
الحالة:Versión publicada
تاريخ النشر:2021
الوصف:Analytical mechanics is a solid mathematical tool for modeling mechanical systems. The “Dynamic Model” of a robotic manipulator analyzes the relationship between the movement produced in the robot and the torques/forces applied to its joints. A process of construction of the dynamic model of a manipulator robot is presented based on the formulation of the Lagrange equations, which describe the dynamics of a manipulator robot by balancing the kinetic and potential energy of its links). With this model, physical phenomena such as: "Inertial Effects" - "Centripetal and Coriolis Forces" - "Gravitational Couple" and "Friction" are analyzed. This process has as “input inputs” the dynamic parameters (masses, lengths and moments of inertia of links) and the homogeneous transformation matrix supplied by direct kinematic model and as “output products” the forces and torques that are due apply to each joint.
البلد:Portal de Revistas UCR
المؤسسة:Universidad de Costa Rica
Repositorio:Portal de Revistas UCR
اللغة:Español
OAI Identifier:oai:portal.ucr.ac.cr:article/45603
الوصول للمادة أونلاين:https://revistas.ucr.ac.cr/index.php/cienciaytecnologia/article/view/45603