Automatic calculation of the dynamic characteristics of the manipulator on the basis of euler - lagrange equation

DOI

10.2991/itsmssm-17.2017.64How to use a DOI?

Keywords

Robot - manipulator, direct problem of dynamics, inverse dynamic problem, Lagrange - Euler method, RAUMS system.

Abstract

Robotics is very popular in today's world. The robots are widely used in various fields of human life. They are used in medicine for development of space in the field of safety at work and at home. However, the design and simulation of the robot is a long and tedious process. Therefore, special programs developed for more efficient operation. They make it possible to create a model of the robot. For example, automated system for modeling RAUMS controlled mechanical systems. RAUMS simulation system modification is discussed in the report. A modification of the system makes it possible to perform calculations of the dynamic characteristics of the examined objects. The modification includes modification of the model components and the incorporation into the system in terms of the dynamic characteristics of the manipulator. The algorithm is based on the Euler-Lagrange method, and makes it possible to perform direct and inverse problem of dynamics. The result of the calculations is presented in the form of a table and a plot of dynamic characteristics in time. As a result of the development of the module have been expanded to simulation analysis in terms of the dynamic characteristics of the robot.

Copyright

© 2017, 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  - Alexander Goritov
AU  - Maria Molokova
PY  - 2017/12
DA  - 2017/12
TI  - Automatic calculation of the dynamic characteristics of the manipulator on the basis of euler - lagrange equation
BT  - Proceedings of the IV International research conference "Information technologies in Science, Management, Social sphere and Medicine" (ITSMSSM 2017)
PB  - Atlantis Press
SP  - 312
EP  - 316
SN  - 2352-538X
UR  - https://doi.org/10.2991/itsmssm-17.2017.64
DO  - 10.2991/itsmssm-17.2017.64
ID  - Goritov2017/12
ER  -