2020
DOI: 10.17973/mmsj.2020_12_2020069
|View full text |Cite
|
Sign up to set email alerts
|

Validation of the Dynamic Model of the Planar Robotic Arm With Using Gravity Test

Abstract: The paper describes the validation of a dynamic model of a planar robotic arm using gravity tests. The drive of the arm (fluid muscles from the manufacturer Festo) was not activated during gravity tests (for the test was used only gravitation of solid). The measured data were obtained under the conditions that the joint angle was from 20° to 40°, the measurements were performed 10 times for each angle and at the same time independent for both links. The dynamics simulation was performed in the MATLAB® and Simu… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
2

Citation Types

0
2
0

Year Published

2021
2021
2024
2024

Publication Types

Select...
3

Relationship

0
3

Authors

Journals

citations
Cited by 3 publications
(2 citation statements)
references
References 1 publication
0
2
0
Order By: Relevance
“…On the other hand, the Euler-Lagrange formulation, which is based on the energy properties of mechanical systems, computes motion equations by balancing the kinetic and potential energies of the system. This approach requires detailed knowledge of each robot link's inertia and center of mass, a complex but crucial aspect for accurate dynamic modeling [13]. The latest necessitates detailed knowledge of each robot link's inertia and center of mass, a requirement often met through model parameter identification [14]- [22] or approximation methods [23]- [31].…”
Section: Introductionmentioning
confidence: 99%
“…On the other hand, the Euler-Lagrange formulation, which is based on the energy properties of mechanical systems, computes motion equations by balancing the kinetic and potential energies of the system. This approach requires detailed knowledge of each robot link's inertia and center of mass, a complex but crucial aspect for accurate dynamic modeling [13]. The latest necessitates detailed knowledge of each robot link's inertia and center of mass, a requirement often met through model parameter identification [14]- [22] or approximation methods [23]- [31].…”
Section: Introductionmentioning
confidence: 99%
“…Properties, shapes, and behaviour of pneumatic artificial muscles are comparable to human muscles; this makes them easy to combine into more complex manipulation mechanisms. Other important properties of pneumatic artificial muscles are listed in papers [19,20] and their basic drawbacks are described by Mižáková [21] and Wickramatunge et al [22] The basic principle of their action is presented by Trojanova andČakurda [23], Hošovský et al [24], Tóthová and Pitel' [25], and Sárosi et al [26].…”
Section: Introductionmentioning
confidence: 99%