Search engine for discovering works of Art, research articles, and books related to Art and Culture
Javascript must be enabled to continue!
BONDGRAPH MODELLING OF ROBOT DYNAMICS
View through CrossRef
Euler-Lagrange and Newton-Euler dynamic modelling become very involved and the equations quite complex even for a robot of few axes. For robot models, the bondgraph approach provides several advantages such as explicit bondgraph representation of the robot physical parameters and does not involve any complex equation writing or matrix inversion. In this paper, the use of the bondgraph method for modelling and simulating robot dynamics is presented. To illustrate the technique, a dynamic model for a SCARA robot is derived using bondgraph modelling. The causality conflict arising from the dependent inertias is solved by introducing structural and joint damping. Simulation results obtained using the developed model were in very close agreement with the analytical values obtained using the manipulator kinematic relations. Response due to impact excitation was obtained and is presented.
Canadian Science Publishing
Title: BONDGRAPH MODELLING OF ROBOT DYNAMICS
Description:
Euler-Lagrange and Newton-Euler dynamic modelling become very involved and the equations quite complex even for a robot of few axes.
For robot models, the bondgraph approach provides several advantages such as explicit bondgraph representation of the robot physical parameters and does not involve any complex equation writing or matrix inversion.
In this paper, the use of the bondgraph method for modelling and simulating robot dynamics is presented.
To illustrate the technique, a dynamic model for a SCARA robot is derived using bondgraph modelling.
The causality conflict arising from the dependent inertias is solved by introducing structural and joint damping.
Simulation results obtained using the developed model were in very close agreement with the analytical values obtained using the manipulator kinematic relations.
Response due to impact excitation was obtained and is presented.
Related Results
Designing a robot to evaluate group formations
Designing a robot to evaluate group formations
Robots are making their way in environments inhabited by people. Whether in domestic or public crowded environments, robots should take into consideration social norms and behavior...
PELATIHAN PERANCANGAN ROBOT BERODA DENGAN DETEKTOR TEPI MEJA PADA SEKOLAH SMA TARSISIUS 1 DAN SMA TRI RATNA
PELATIHAN PERANCANGAN ROBOT BERODA DENGAN DETEKTOR TEPI MEJA PADA SEKOLAH SMA TARSISIUS 1 DAN SMA TRI RATNA
Wheeled robot is a robot which movement is managed by the rotation of Direct Current (DC) motors. These motors are connected to wheels. Wheeled robot usually is used as a teaching ...
Sistem Kendali Hybrid Fuzzy-Pid pada Kinematika Robot Berkaki 4 Menggunakan Sensor Gyroscope
Sistem Kendali Hybrid Fuzzy-Pid pada Kinematika Robot Berkaki 4 Menggunakan Sensor Gyroscope
<p><em>Legged robots have attracted the attention of researchers because of their superior adaptation to complex environments compared to wheeled robots. Legged robots ...
The robot null space : new uses for new robotic systems
The robot null space : new uses for new robotic systems
This doctoral thesis deals with the use of the robot redundancy to execute several tasks simultaneously at different levels of priority and its application to two different robotic...
Desain Mobile Robot Dengan Reflektor dan Level Kecepatan Berbasis Doppler
Desain Mobile Robot Dengan Reflektor dan Level Kecepatan Berbasis Doppler
Robot mobile merupakan salah satu kebutuhan di perkembangan teknologi saat ini. Namun, kelemahan dari desain robot mobile ketika operator robot mobile tidak dapat mengetahui tingka...
Decision Making in Human-Robot Interaction
Decision Making in Human-Robot Interaction
Processus décisionnels pour l'interaction homme-robot
Un intérêt croissant est aujourd'hui porté sur les robots capables de conduire des activités de collaboration ...
Cooperative social robots: accompanying, guiding and interacting with people
Cooperative social robots: accompanying, guiding and interacting with people
The development of social robots capable of interacting with humans is one of the principal challenges in the field of robotics. More and more, robots are appearing in dynamic envi...