Closed-form Kinematic and Dynamic Models of an Industrial-like RRR Robot

Closed-form Kinematic and Dynamic Models of an Industrial-like RRR Robot

1. In the article the closed form kinematic and dynamic models of a robot with three degrees of freedom of rotation RRR is presented.

   • The derivation of the models and estimating their parameters are explained

2. Kinematic Model

   • This allows calculation of the corresponding sets a given path movements of the robot end effector

3. Dinamic Model

   • It provides information about the control inputs to be applied to the joint actuators to achieve the desired movements of the robot

4. RRR-robot

   • It is used as a testbed for a variety of nonlinear control laws.
   • It is used to solve the nonlinear dynamics of plants and to enable simplified design of motion controllers

5. EXPERIMENTAL SET -UP

   • The robot has three angular degrees of freedom (DOF): waist, shoulder and elbow.
   • Motion controllers running on a platform of hardware / software-based PC that allows great flexibility in the evaluation of a variety of control laws

6. Robot kinematics in closed-form

   • It is done by the Denavit-Hartenberg parameters according to the angles and distances of the robot
   • Advantages
     • allows direct recognition of robot configurations
     • This lets you explicitly control the actual position. You can reach every point in the workspace
     • Less computational effort

7. ROBOT DYNAMICS IN CLOSED-FORM

   • For this, the Euler-Lagrange method is used, taking into account each of the robot varibles.

8. MODEL VERIFICATION

   • A kinematic analysis of a particular task (writing) is presented.
     • A path that allows the set writing set.
     • For this a series of calculations are performed, taking into account the length of the links, distances and rotation angles.