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

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 5 years ago
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Description

Estudio cinemático de Robot Scara

Resource summary

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