Robot Kinematics and Dynamics
نویسنده
چکیده
منابع مشابه
Design, Modeling, Implementation and Experimental Analysis of 6R Robot (TECHNICAL NOTE)
Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...
متن کاملMultiple-objective Optimization of Serpentine Locomotion with Snake Robot by Using the NSGA
This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...
متن کاملMathematical Dynamics, Kinematics Modeling and PID Equation Controller Of QuadCopter
Abstract Quadcopter is the Unmanned Aerial Vehicle that can vertical tack off and landing. its useful platform for many applications in Commercial, civil or military . In this article ,we present the Dynamics and Kinematics model of quadcopter and the effect of forces by introducing two frames on the ground and it’s body, also we design and implement the PID controller t...
متن کاملEstimation and Calibration of Robot Link Parameters with Intelligent Techniques
Abstract: Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy ...
متن کاملRobust Control of Electrically Driven Robots in the Task Space
In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....
متن کاملRobust Control of Electrically Driven Robots in the Task Space
In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....
متن کامل