Performance Measurement and Dynamic Analysis of Two Dof Robotic Arm Manipulator
نویسندگان
چکیده
Abstract Forward and inverse kinematic analysis of 2DOF robot is presented to predict singular configurations. Cosine function is used for servo motor simulation of kinematics and dynamics using Pro/Engineer. The significance of joint-2 for reducing internal singularities is highlighted. Performance analysis in terms of condition number, local conditioning index and mobility index is carried out for the manipulator. Dynamic analysis using Lagrangian’s and Newton’s Euler approach is worked out analytically using MATLAB and results are plotted for their comparison.
منابع مشابه
Design Characteristics and Dynamic Modeling of a Cooperative Dual-Arm- Lock Manipulator
Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...
متن کاملDesign Characteristics and Dynamic Modeling of a Cooperative Dual-Arm- Lock Manipulator
Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...
متن کاملDynamic modeling and control of a 4 DOF robotic finger using adaptive-robust and adaptive-neural controllers
In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...
متن کاملAn Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload
In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کامل