Dynamic Modeling and Simulation of a Manipulator with Joint Inertia

Shi-xiang, Tian; Wang, Shengze

doi:10.1007/978-3-642-19853-3_2

Cited by 2 publications

(5 citation statements)

References 12 publications

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“…The mathematical models proposed in [3][4][5][6][7][17][18][19] do not take into account the change in the position of the center of mass of the system with the relative motion of the manipulator. Models [19][20][21][22] do not make it possible to separate the influence of dynamic parameters on the interconnection of control channels.…”

Section: Discussion Of Research Resultsmentioning

confidence: 99%

“…The presented model uses a PID controller, and the dynamics equations are obtained by the Lagrange-Euler method. Work [22] considers the dynamic modeling of spatial three-link M using symbolic and numerical methods. To derive the equations of dynamics in the form of a space of states, an algorithm based on the Newton-Euler method is proposed.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

“…The algorithm is implemented in the Maple system, the simulation was carried out in MATLAB&SIMULINK. The mathematical models proposed in [20][21][22] do not reflect the relationship of the dynamic parameters of the mechanical system.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

“…Analysis of the literature [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22] suggests that it is expedient to conduct a study to build a mathematical model of AMR of the changing configuration, taking into account the relationship of the dynamic parameters of the system.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

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Construction of a mathematical model of the dynamics of an autonomous mobile robot of variable configuration

Ashhepkova

2022

EEJET

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This paper considers the construction of a mathematical model of the movement of an autonomous mobile robot (AMR) in variable configuration, taking into account the relationship of the dynamic parameters of a mechanical system. As an example, the design of AMR with a manipulator is considered. The object of this study is the dynamics of AMR with a manipulator. The peculiarities of the dynamics of AMR with the manipulator are due to the change in the position of the center of mass of the system with the relative movement of the manipulator and the commensurate non-diagonal and diagonal elements of the inertia tensor calculated relative to the axes of the base coordinate system. The construction of the mathematical model was carried out according to the Nyton-Euler method. The resulting mathematical model contains: – an equation of motion of the center of mass of the AMR system of variable configuration along the trajectory in the inertial coordinate system; – an equation of angular motion of AMR in variable configuration in the inertial coordinate system; – an equation of motion of the manipulator with respect to AMR. In a general case, the center of mass of the AMR platform moves in a horizontal plane. Establishing the relationship of dynamic parameters of the mechanical system will make it possible to maintain functionality and ensure the orientation of AMR in vertical planes despite the movement of the manipulator. As an object of control, AMR with a manipulator is a multi-connected system with a cross-internal connection of control channels, which is formed by the dynamic parameters of a mechanical system. Based on the results of mathematical modeling using the proposed model, it is possible to develop algorithms for adaptive control using cross-connection of channels. This will make it possible to identify reserves to reduce energy consumption, increase stability, improve the efficiency and survivability of AMR in variable configuration during autonomous work under extreme conditions.

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Section: Discussion Of Research Resultsmentioning

confidence: 99%

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Section: Literature Review and Problem Statementmentioning

confidence: 99%

See 2 more Smart Citations

Construction of a mathematical model of the dynamics of an autonomous mobile robot of variable configuration

Ashhepkova

2022

EEJET

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“…В [1,2,5,6] рассматривается два подхода к составлению уравнений динамики манипуляторов: метод Ньютона -Эйлера и метод Лагранжа -Эйлера. Для моделирования процессов динамики и управления манипулятора целесообразно применять математические пакеты Mathcad [3,4,7] или Matlab [8][9][10]. В [8] представлено псевдо символьное динамическое моделирование (PSDM) для создания упрощенных динамических моделей манипуляторов, конструкция которых содержит до 7 степеней подвижности.…”

Section: Rs Globalunclassified

Software Method for Analysis of the Performance of Anthropomorphic Manipulator

Ashhepkova¹

2021

RS Global - World Science

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A universal anthropomorphic manipulator with six rotational degrees of mobility is considered. The nodal points S0, ..., S6 are selected on the trajectory of movement of the manipulator grip. The kinematic analysis of the manipulator was carried out by the method of transforming the coordinates of Denavit - Hartenberg. The mathematical model of the manipulator is compiled by the Lagrange-Euler method. The problem of maximum performance for each generalized coordinate qi (t) is solved using the Pontryagin maximum principle. Mathematical modeling was carried out in the Mathcad environment. The software method for analyzing the speed of the manipulator allows us to consider for each nodal point of the trajectory S0, ..., S6 the set of admissible configurations of the manipulator, solve the problem of maximum speed for each generalized coordinate qi (t) and estimate the minimum time for the implementation of the sequence of state vectors. When solving the problem of maximum speed, the switching time ti1 and the minimum turning time tik are calculated for each generalized coordinate qi (t). The minimum time for the configuration implementation can be found by summing the minimum rotation time tik over six generalized coordinates. Similar calculations are carried out for each nodal point S0, ..., S6 and the corresponding sets of permissible manipulator configurations. The developed software makes it possible, on the basis of the data obtained, to synthesize a sequence of control commands for the manipulator drives. The research results can be used at the design stage, implementation and modernization of robotic systems and manipulators.

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Dynamic Modeling and Simulation of a Manipulator with Joint Inertia

Cited by 2 publications

References 12 publications

Construction of a mathematical model of the dynamics of an autonomous mobile robot of variable configuration

Construction of a mathematical model of the dynamics of an autonomous mobile robot of variable configuration

Software Method for Analysis of the Performance of Anthropomorphic Manipulator

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