Proceedings of the 5th International Conference on Advanced Design and Manufacturing Engineering

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

Authors
Xiao Li, Hanxu Sun, Linjing Liao, Jingzhou Song
Corresponding author
Xiao Li
DOI
https://doi.org/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
© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/
Open Access | Under Creative Commons license CC BY-NC 4.0

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@inproceedings{Li2015,
  title={Simulation and Comparison Research of Lagrange and Kane Dynamics Modeling for The 4-DOF Modular Industrial Robot},
  author={Li, Xiao and Sun, Hanxu and Liao, Linjing and Song, Jingzhou},
  year={2015},
  booktitle={5th International Conference on Advanced Design and Manufacturing Engineering},
  issn={2352-5401},
  isbn={978-94-6252-113-1},
  url={http://dx.doi.org/10.2991/icadme-15.2015.50},
  doi={10.2991/icadme-15.2015.50},
  publisher={Atlantis Press}
}
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