Kinematic and dynamic model validation of a four degree of freedom anthropomorphic robot manipulator
In this paper, the kinematic and dynamic model of a 4 degree of freedom anthropomorphic robot manipulator are obtained by means of the Denavit - Hartenberg convention and the Euler - Lagrange formulation respectively. The kinematic model is used to construct the workspace of the robot manipulator.A...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2019 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/4608 |
| Acceso en línea: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/4608 |
| Access Level: | acceso abierto |
| Palabra clave: | Robot manipulator Anthropomorphic robot Kinematic model Dynamic model Euler - Lagrange Robot manipulador robot antropomórfico modelo cinemático modelo dinámico |
| Sumario: | In this paper, the kinematic and dynamic model of a 4 degree of freedom anthropomorphic robot manipulator are obtained by means of the Denavit - Hartenberg convention and the Euler - Lagrange formulation respectively. The kinematic model is used to construct the workspace of the robot manipulator.A software CAD -CAE is used to estimate the robot manipulator’s physical parameters. The dynamic model is proven to be valid via its comparison with the model obtain through the use of a computational tool which uses the Newton-Euler algorithm. |
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