Variable Structure Model of an Articulated Robotic Arm

Variable Structure Model of an Articulated Robotic Arm

In this paper, a novel method for the structure variable modeling of a two links articulated robotic arm is considered. First, the dynamic model of the robotic arm is obtained. Second, two different equilibrium points yield two different models which are derived from the first model. The different m...

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Veröffentlicht in:Revista IEEE América Latina 2015-12, Vol.13 (12), p.3794-3802
Hauptverfasser: Rubio, Jose de Jesus, Elias, Israel, Pacheco, Jaime, Silva Ortigoza, Ramon, Cruz, Panuncio
Format: Artikel
Sprache:eng
Schlagworte:
Computer simulation
dynamic model
Dynamic models
Links
Mathematical models
Media
Modelling
robotic arm
Robotics
Robots
Robustness
Structure variable model
Torque
Variable structure
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Beschreibung
Zusammenfassung:In this paper, a novel method for the structure variable modeling of a two links articulated robotic arm is considered. First, the dynamic model of the robotic arm is obtained. Second, two different equilibrium points yield two different models which are derived from the first model. The different models are presented in simulations.
ISSN:1548-0992
1548-0992
DOI:10.1109/TLA.2015.7404910