Advanced Dynamics Processes Applied to an Articulated Robot

The paper presents the dynamics of a 2R planar articulated robot, developed by two original methods. One is classical “Lagrangian” adapted author, and second method absolutely original. robot are based in both cases on variation inertial forces mechanism, or practically influence masses moving elements robot. external loads, weights load to be transported also taken into account. Another element work choice speeds such way that they correspond an optimum necessary for inverse kinematics imposed For this reason, dynamic operation will quiet without large variations vibrations. If electric motors (preferably stepper motors) areadapted those recommended controller (PID) used have very light load. It even possible eliminate it if adjustment (actuators) performed according indicated author paper. kinematic motion optimal dynamically successfully checked methods used.