Simulation and Comparison Research of Lagrange and Kane Dynamics Modeling for The 4-DOF Modular Industrial Robot

Abstract

Based on joint parameter and robot configuration, the Lagrange and Kane dynamics modeling are established for the 4-DOF modular industrial robot in this paper. The planning mission was performed in the Lagrange dynamics modeling and Kane dynamics modeling by simulation software. The simulation results shown that the Kane model is better than the Lagrange model in the 4-DOF robot. And the Kane model has better execution effect when the joint torque is greater.

A Study of Knee Exoskeleton Configuration Based on Lower Limb Motion Characteristics Analysis

“…In general, the kinematics model of the lower limb assistance device mainly establishes the relationship between the motion trajectory, angle, angular velocity, and other variables of the end effector in the reference coordinate system and time. Because the lower limb joints are mostly considered rigid body systems during kinematic analysis, the D-H method for establishing traditional robot kinematic models was used to establish the kinematic model of the lower limb assist device [24,25]. The established D-H kinematics model and the definition of reference coordinate systems, local coordinate systems, and related parameters are shown in Figure 10.…”

“…According to the D-H (Denavit-Hartenberg) method in robot kinematics [24], forward and inverse kinematics models of human lower limbs are established. Using the right leg of a human lower limb as an example, a coordinate system is established at each In Figure 10, point O represents the hip joint, points C and A represent the left and right knee joints, respectively, points D and B represent the ends of the left and right lower limbs, respectively, points G and E represent the heel points of the left and right feet, respectively, and points H and F represent the toe points of the left and right feet, respectively.…”

“…According to the D-H (Denavit-Hartenberg) method in robot kinematics [24], forward and inverse kinematics models of human lower limbs are established. Using the right leg of a human lower limb as an example, a coordinate system is established at each joint.…”