DYNAMIC MODEL OF 6R ARTICULATED INDUSTRIAL ROBOT USING NEWTON-EULER FORMULATION

被引：0
|
作者：
Bugnar, Florin [1 ]
Nedezki, Claudiu Mihai [2 ]
Moholea, Iuliana Fabiola [3 ]
机构：
[1] Tech Univ Cluj Napoca, B Dul Muncii 103-105, Cluj Napoca, Romania
[2] Tech Univ Cluj Napoca, Dept Engn & Robot, Calea Turzii St 67, Cluj Napoca, Romania
[3] Tech Univ Cluj Napoca, Dept Mech Syst Engn, B Dul Muncii 103-105, Cluj Napoca, Romania
来源：
ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING | 2019年 / 62卷 / 01期
关键词：
dynamic model; articulated robot; 6R; robotic welding; SYMBOLIC COMPUTATION;
D O I：
暂无
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
the article describes the process of obtaining the dynamic equations of the 6R articulated industrial robot used in welding processes. The paper uses the previously determined geometric and kinematic model. The aim of this analysis is getting the expressions of the generalized driving forces of the robot, representing the equations of the inverse dynamic model.
引用
收藏
页码：169 / 174
页数：6
相关论文
共 50 条
  • [1] Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation
    D'Antuono, Gianluca
    Pettersen, Kristin Y.
    Buonocore, Luca R.
    Gravdahl, Jan Tommy
    Di Castro, Mario
    [J]. IFAC PAPERSONLINE, 2023, 56 (02): : 11639 - 11644
  • [2] LINEARIZATION AND SENSITIVITY MODELS OF THE NEWTON-EULER DYNAMIC ROBOT MODEL
    MURRAY, JJ
    NEUMAN, CP
    [J]. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1986, 108 (03): : 272 - 276
  • [3] Modeling and optimal trajectory planning of a biped robot using Newton-Euler formulation
    Tlalolini, David
    Aoustin, Yannick
    Chevallereau, Christine
    [J]. ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2, 2007, : 76 - 83
  • [4] THE DYNAMIC EQUATIONS OF THE TRTTRR1 ROBOT USING THE NEWTON-EULER FORMALISM
    Gui , Ramona-Maria
    Ispas, Viorel
    Ispas, Virgil
    [J]. ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, 2012, 55 (01): : 79 - 88
  • [5] A Simulation of 6R Industrial Articulated Robot Arm Using Backpropagation Neural Network
    Manigpan, Supachoke
    Kiattisin, Supaporn
    Leelasantitham, Adisorn
    [J]. INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010), 2010, : 823 - 826
  • [6] GENERALIZATION OF NEWTON-EULER FORMULATION OF DYNAMIC EQUATIONS TO NONRIGID MANIPULATORS
    HUANG, Y
    LEE, CSG
    [J]. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1988, 110 (03): : 308 - 315
  • [7] Simulation of flexible manipulators using Newton-Euler inverse dynamic model
    Boyer, F
    Khalil, W
    [J]. 1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 1947 - 1952
  • [8] DYNAMICS EQUATIONS OF TRTRR ROBOT USING NEWTON-EULER FORMALISM
    Gui, Ramona Maria
    Ispas, Viorel
    Arghir, Mariana
    Ispas, Virgil
    [J]. ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, 2013, 56 (02): : 329 - 336
  • [9] A LIE GROUP FORMULATION OF THE NEWTON-EULER EQUATIONS AND ITS APPLICATION TO ROBOT DYNAMICS
    Chen, Genliang
    Wang, Hao
    Zhong, Yong
    Yu, Haidong
    [J]. INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2015, VOL 5C, 2016,
  • [10] Researches regarding the dynamic model of the serial modular portal robot with TRTTT structure using the Newton-Euler formalism
    Costin, I. O.
    Costin, I.
    [J]. 2008 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS (AQTR 2008), THETA 16TH EDITION, VOL II, PROCEEDINGS, 2008, : 350 - 355
12345