Zusammenfassung
Dynamic models are essential in many stages of the life-cycle of a robot. At the design stage these are used to dimension motors and drives and to evaluate dynamic performance. If the desired characteristics cannot be reached, current formulation and implementation of dynamic models cause a trial and error type approach to increase performance by changing properties of the robot in the design stage. Models only compute the forces and torques but do not offer any information about the factors influencing t heir v alues. I n t his p aper modifications to the formulation of the Iterative Newton-Euler method for dynamic modeling is proposed together with a reference class structure for implementation. Based on the mechanical structure and mass properties of the robot the dynamic model offers information about the factors and their proportions included in the reaction and motor forces or torques.
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© 2019 Springer-Verlag GmbH Deutschland, ein Teil von Springer Nature
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Csiszar, A., Weiß, F., Verl, A. (2019). Factorial Formulation of Dynamic Models for Robot Arms. In: Schüppstuhl, T., Tracht, K., Roßmann, J. (eds) Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter. Springer Vieweg, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-59317-2_27
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DOI: https://doi.org/10.1007/978-3-662-59317-2_27
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