Desarrollo de un módulo de construcción del modelo dinámico inverso para un manipulador robótico industrial
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| Autores: | , , , , |
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| 格式: | artículo original |
| 状态: | Versión publicada |
| Fecha de Publicación: | 2021 |
| 实物特征: | 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. |
| País: | Portal de Revistas UCR |
| 机构: | Universidad de Costa Rica |
| Repositorio: | Portal de Revistas UCR |
| 语言: | Español |
| OAI Identifier: | oai:portal.ucr.ac.cr:article/45603 |
| 在线阅读: | https://revistas.ucr.ac.cr/index.php/cienciaytecnologia/article/view/45603 |