DYNAMICS EQUATIONS OF TRTRR ROBOT USING LAGRANGE FORMALITY

Viorel ISPAS, Ramona Maria GUI, Mariana ARGHIR, Virgil ISPAS

Abstract


Consider the case of a robot with five degrees of mobility, consisting of two modules of translation and three modules of rotation, for which, investigating dynamic action under active forces and linkage, by using Lagrange's equations. The study shall be carried out with a view to in order to optimize energy consumption, by placing modules in mechanical structure of the robot.

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References


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