DocumentCode
2819726
Title
New Formulations in the Applied Mechanics to Robotics
Author
Negrean, I. ; Vuscan, I.
Author_Institution
Dept. of Mech. & Comput. Programming, Tech. Univ. of Cluj-Napoca
Volume
2
fYear
2006
fDate
25-28 May 2006
Firstpage
284
Lastpage
289
Abstract
The algorithm of the dynamic control functions achieves a complex modeling regarding the behavior of any mechanical robot structure. First of all, considering the kinetic links dominated of stiffness hypothesis, on the basis of the new formulations with matrix exponentials, in this paper, the differentials expressions answerable to the forward kinematics of mechanical robot structures were presented. On the basis of these equations, in the following, the generalized dynamics forces were also analyzed for the robots with rigid and elastic structure
Keywords
elasticity; matrix algebra; robot kinematics; shear modulus; applied mechanics; dynamic control function; elastic structure; forward kinematics; kinetic links; matrix exponential; rigid structure; robotics; stiffness hypothesis; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation, Quality and Testing, Robotics, 2006 IEEE International Conference on
Conference_Location
Cluj-Napoca
Print_ISBN
1-4244-0360-X
Electronic_ISBN
1-4244-0361-8
Type
conf
DOI
10.1109/AQTR.2006.254646
Filename
4022969
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