THE DYNAMIC MODELLING OF THE ROBOT MECHANICAL STRUCTURE USING THE SYMBOLIC COMPUTATION IN MATLAB

Ovidiu Aurelian DETEŞAN

Abstract


An important part of modelling and simulation of a robot is the generation of the geometric, kinematic and dynamic model of its mechanical structure. The software module presented in this paper allows the modelling of the generalized mechanical structure of the robot and the automatic generation of the dynamic model equations of the considered robot, i.e. the motive generalized forces from the robot’s joints. As a part of the Robot_Symbolic generalized application, after Robot_Definition, Robot_Geometry and Robot_Kinematics, Robot_Dynamics is the last step to follow when the modelling of a robotic structure is intended. The application is written in MATLAB, it exploits its symbolic computation facilities, implementing the Newton-Euler’s formulation.  

Key words: serial robot, dynamic modelling, symbolic computation, Robot_Dynamics.


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References


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