Advances in Mechanical Systems Dynamics

Rosati, Giulio; Boschetti, Giovanni; Carbone, Giuseppe

doi:10.3390/robotics9010012

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Cited by 2 publications

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“…Several leading international researchers and engineers are addressing these trending topics also within several books and conference series such as reported in the recent publications [1][2][3][4][5][6][7][8]. Additionally, several journal special issues have been made recently available such as those reported in [9][10][11][12][13][14][15][16] with valuable insight on recent topics and achievements in this trendy and wide research field.…”

Section: Introductionmentioning

confidence: 99%

Advances in Robotics and Mechatronics

2020

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Section: Introductionmentioning

confidence: 99%

Advances in Robotics and Mechatronics

2020

Self Cite

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A Novel, Oriented to Graphs Model of Robot Arm Dynamics

et al. 2021

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Robotics is an interdisciplinary field and there exist several well-known approaches to represent the dynamics model of a robot arm. The robot arm is an open kinematic chain of links connected through rotational and translational joints. In the general case, it is very difficult to obtain explicit expressions for the forces and the torques in the equations where the driving torques of the actuators produce desired motion of the gripper. The robot arm control depends significantly on the accuracy of the dynamic model. In the existing literature, the complexity of the dynamic model is reduced by linearization techniques or techniques like machine learning for the identification of unmodelled dynamics. This paper proposes a novel approach for deriving the equations of motion and the actuator torques of a robot arm with an arbitrary number of joints. The proposed approach for obtaining the dynamic model in closed form employs graph theory and the orthogonality principle, a powerful concept that serves as a generalization for the law of conservation of energy. The application of this approach is demonstrated using a 3D-printed planar robot arm with three degrees of freedom. Computer experiments for this robot are executed to validate the dynamic characteristics of the mathematical model of motion obtained by the application of the proposed approach. The results from the experiments are visualized and discussed in detail.

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Advances in Mechanical Systems Dynamics

Abstract: Nowadays, robotics is developing at a much faster pace than ever in the past, both inside and outside industrial environments [...]

Cited by 2 publications

References 30 publications

Advances in Robotics and Mechatronics

Advances in Robotics and Mechatronics

A Novel, Oriented to Graphs Model of Robot Arm Dynamics

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