Title :
Modeling multi-DOF robots as coupled Lorenz-type systems
Author_Institution :
Dept. of Mech. Eng. and Mech., Drexel Univ., Philadelphia, PA, USA
Abstract :
Formulation of the dynamics equations of motion for robotic manipulators actuated by brushless motors is considered. It is demonstrated that a single degree-of-freedom (DOF) system model of this type is equivalent to the Lorenz model for fluid convection. Furthermore, it is demonstrated that multi-DOF robots can be modelled as coupled Lorenz systems
Keywords :
DC motors; dynamics; electric drives; position control; robots; DC brushless motors; coupled Lorenz-type systems; dynamic motion equations; fluid convection; multi-DOF robots; robotic manipulators; Brushless DC motors; Brushless motors; Couplings; DC motors; Equations; Fluid dynamics; Manipulator dynamics; Robots; Shafts; Torque;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351369
