Title :
A new method for dynamic analysis of robot
Author_Institution :
Beijing Institute of Technology, Beijing, China
Abstract :
In this paper, a new method for the dynamic analysis of robot is developed from the Lagrange-Euler equation. This new method can solve those problems which needs too much amount of calculation when dynamic analysis of robot is performed with Lagrange-Euler method. When it is used in the dynamic analysis of open chain robot with 6 degree-of-freedom, the whole calculating process, including the calculation of the homogeneous transformation matrices needs only 1,436 multiplications and 1,092 additions.
Keywords :
Control systems; Equations; Lagrangian functions; Microwave integrated circuits; Performance analysis; Production facilities; Robot control; Robot kinematics; Robotics and automation; Tellurium;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087660
