Simulation and Comparison Research of Lagrange and Kane Dynamics Modeling for The 4-DOF Modular Industrial Robot

DOI

10.2991/icadme-15.2015.50How to use a DOI?

Keywords

Modular industrial robot, Dynamics modeling, .Dynamics simulation.

Abstract

Based on joint parameter and robot configuration, the Lagrange and Kane dynamics modeling are established for the 4-DOF modular industrial robot in this paper. The planning mission was performed in the Lagrange dynamics modeling and Kane dynamics modeling by simulation software. The simulation results shown that the Kane model is better than the Lagrange model in the 4-DOF robot. And the Kane model has better execution effect when the joint torque is greater.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xiao Li
AU  - Hanxu Sun
AU  - Linjing Liao
AU  - Jingzhou Song
PY  - 2015/10
DA  - 2015/10
TI  - Simulation and Comparison Research of Lagrange and Kane Dynamics Modeling for The 4-DOF Modular Industrial Robot
BT  - Proceedings of the 5th International Conference on Advanced Design and Manufacturing Engineering
PB  - Atlantis Press
SP  - 251
EP  - 254
SN  - 2352-5401
UR  - https://doi.org/10.2991/icadme-15.2015.50
DO  - 10.2991/icadme-15.2015.50
ID  - Li2015/10
ER  -