Please use this identifier to cite or link to this item: https://dspace.ctu.edu.vn/jspui/handle/123456789/26584
Title: Dynamic model with a new formulation of coriolis/centrifugal matrix for robot manipulatiors
Authors: Le, Ngoc Truc
Nguyen, Van Quyen
Nguyen, Phung Quang
Keywords: Coriolis/centrifugal matrix
Dynamic model
Euler-Lagrange equations
Kronecker produ
Robot manipulator
Issue Date: 2020
Series/Report no.: Journal of Computer Science and Cybernetics;Vol.36(01) .- P.89–104
Abstract: The paper presents a complete generalized procedure based on the Euler-Lagrange equations to build the matrix form of dynamic equations, called dynamic model, for robot manipulators. In addition, a new formulation of the Coriolis/centrifugal matrix is proposed. The link linear and angular velocities are formulated explicitly. Therefore, the translational and rotational Jacobian matrices can be derived straightforward from definition, which make the calculation of the generalized inertia matrix more convenient. By using Kronecker product, a new Coriolis/centrifugal matrix formulation is set up directly in matrix-based manner and guarantees the skew symmetry property of robot dynamic equations. This important property is usually exploited for developing many control methodologies. The validation of the proposal formulation is confirmed through the symbolic solution and simulation of a typical robot manipulator.
URI: http://dspace.ctu.edu.vn/jspui/handle/123456789/26584
ISSN: 1813-9663
Appears in Collections:Tin học và Điều khiển học (Journal of Computer Science and Cybernetics)

Files in This Item:
File Description SizeFormat 
_file_
  Restricted Access
3.46 MBAdobe PDF
Your IP: 3.145.43.200


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.