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TECHNICAL PAPERS

New Results on Robot Modeling and Simulation

[+] Author and Article Information
Laura Celentano

 Universitá degli Studi di Napoli, Federico II, Dipartimento di Informatica e Sistemistica, Via Claudio 21, I-80125, Napoli, Italylacelent@unina.it

Raffaele Iervolino

 Universitá degli Studi di Napoli, Federico II, Dipartimento di Informatica e Sistemistica, Via Claudio 21, I-80125, Napoli, Italy

J. Dyn. Sys., Meas., Control 128(4), 811-819 (Apr 05, 2006) (9 pages) doi:10.1115/1.2361319 History: Received January 31, 2005; Revised April 05, 2006

In this paper the possibility of simulating the robot forward dynamics by making use of the inertia matrix and of the kinetic energy gradient only is demonstrated. Such method is shown to be simpler and numerically more efficient than the classical approaches. In the case of planar robots with revolute joints and link centers of mass belonging to the plane containing the rotating axes of the joints, theorems are formulated and demonstrated providing a relatively fast and simple method of calculation for both the inertia matrix and the gradient of the kinetic energy. This allows obtaining a simple and efficient tool to simulate practical robots with rigid links and can also be particularly useful for studying robots with flexible links. By using the proposed approach, the model of a practical planar robot, designed by the computer aided design software package CATIA, is easily developed and implemented. The simulation results when the gradient of the kinetic energy is computed analytically versus numerically are compared to illustrate that the computational costs are relatively low and the accuracy is high.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

Block diagram for the robot forward dynamics integration

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Figure 2

Percentages of saved flops evaluated for robot models with random links parameters

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Figure 3

The generic link of the considered generalized planar robot

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Figure 4

The considered generalized planar robot with three links and horizontal work plane

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Figure 5

Geometric characteristics of the ith link

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Figure 6

Schematic representation of a planar robot with n links

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Figure 7

Determination of the coordinates of a generic point P of the link L

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Figure 8

Graphical representation of the algorithm that computes the robot inertia matrix

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Figure 9

Efficiency comparison between the articulated body method and the proposed method

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Figure 10

Commanded input torques

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Figure 11

End-effector trajectory in the task space

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Figure 12

Relative errors when using the numerical versus the analytical method in terms of link angles

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Figure 13

Relative errors when using the numerical versus the analytical method in terms of link angular velocities

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