DYNAMIC MODEL OF 5R ARTICULATED INDUSTRIAL ROBOT USED IN WELDING PROCESSES

Florin BUGNAR, Claudiu Mihai NEDEZKI, Adrian TRIF

Abstract


The paper presents the determination of the dynamic equations for the 5R-type articulated industrial robot used in welding processes. Newton-Euler method was used to perform this modeling and it works with the previously determined equations of geometric and kinematic model. The generalized driving forces are eventually determined, and they express the equation of the inverse dynamic model for the analyzed robot.

Key words: dynamic model, articulated robot, welding.

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References


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