The Simplified Dynamic Model of a Robot Manipulator
نویسنده
چکیده
The analytical model of a robot dynamics represents an important tool for both the analysis and the synthesis of robot control algorithms. Based on the Euler-Lagrange formalism, the contribution presents a MATLAB-SIMULINK dynamic model of the 3-DOF anthropomorphic robot manipulator with revolute joints. A significant simplification of the model has been accomplished via the concentration of the mass of each link into its centre of gravity.
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