Closed-Form Kinematic And Dynamic Models of an Industrial-Like RRR Robot

Description

Estudio cinemático de Robot Scara
Johann Andrés  Argüello CRUZ
Mind Map by Johann Andrés Argüello CRUZ, updated more than 1 year ago
Johann Andrés  Argüello CRUZ
Created by Johann Andrés Argüello CRUZ almost 9 years ago
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Resource summary

Closed-Form Kinematic And Dynamic Models of an Industrial-Like RRR Robot
  1. KINEMATIC MODEL
    1. Calculation of Joint Motions Corresponding to a Given Trajectory of the Robot’s End-Effector.
    2. DINAMIC MODEL
      1. Provides Information About the Control Inputs that Should be Applied to the Joint Actuators
      2. Adopting the LuGre Friction Model
        1. CLOSED-FORM
          1. Given Accuracy of Both Forward and Inverse kinematics Solutions is Much Faster
            1. For Real Time Control
            2. Is Focused on Control Laws Base on a Computed Torque Method
              1. resolve non-linear plant dynamics and to enable a simplified design of motion controllers
              2. DH PARAMETERS OF 3R ROBOT
                1. Advantages of Closed-Form For Inverse Kinematics
                  1. Explicitly Control the Actual Posture
                    1. Elbow Up (- ) or with the Elbow Down (+)
                    2. Requires Far Less Computational Efforts
                      1. Enables Direct Recognition of Irregular Robot Configurations
                      2. UNIVERSIDAD MANUELA BELTRÁN ING. ELECTRÓNICA
                        1. JOHANN A. ARGÜELLO C. ROBÓTICA INDUSTRIAL
                        2. AUTHORS: Dragan Kostik, Ron Hensen, Bram de Jager, Maarten Steinbuch,
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