Title :
Researches regarding the dynamic model of the serial modular portal robot with TRTTT structure using the Newton-Euler formalism
Author :
Costin, I.O. ; Costin, I.
Author_Institution :
Tech. Univ. Cluj-Napoca, Cluj-Napoca
Abstract :
In this paper we study the geometric, kinematics, and dynamic model for a serial modular portal robot with a TRTTT structure, using the Maple 9.01 ([6]) application. The values of the generalized motor forces depend on various parameters, in this paper being studied the influence of the variations of the mass center positions on these generalized motor forces.
Keywords :
Newton method; robot dynamics; robot kinematics; Maple application; Newton-Euler formalism; generalized motor forces; mass center positions; serial modular portal robot; Control systems; Grippers; Motion control; Portals; Robot kinematics; Service robots; Solid modeling;
Conference_Titel :
Automation, Quality and Testing, Robotics, 2008. AQTR 2008. IEEE International Conference on
Conference_Location :
Cluj-Napoca
Print_ISBN :
978-1-4244-2576-1
Electronic_ISBN :
978-1-4244-2577-8
DOI :
10.1109/AQTR.2008.4588853
