Computer Method for Linearization and Parameter Sensitivity of Manipulation Robots Dynamic Models
In Chapter 2 the basic method for automatic setting of mathematical models of open-chain manipulation robot dynamics, based on general theorems of mechanics was presented. By including dynamic models of actuator units (Appendix 6) in robot mechanism dynamics, a complete dynamic model of an open-chain active mechanism manipulation robot is formed. With the presented local closed chain of parallelogram type of a robotic mechanisms which are met in industrial application, practically all mechanical structures of contemporary robotic manipulators are represented. Thus the necessary foundation is established for controlling robotic manipulators based upon required information on their dynamics. Mathematical models of robotic manipulators dynamics are derived by applying the algorithm presented in Chapter 2 of this book.
KeywordsInertial Force Robotic Manipulator Sensitivity Matrix Driving Torque Actuator Unit
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