Part II: 6-DOF Manipulator Dynamic
Last Updated on Friday, 28 October 2011 13:02 Written by Administrator Thursday, 17 June 2010 07:08
The equation of motion for n-axis manipulator are given by
q,d_dot,d_2dot : is the vector of joint displacements, joint velocities, and joint accelerations
D(d): is the manipulator inertia tensor
C(q,q_dot): describes Coriolis and centripetal effects
F(q_dot): describes viscous and Coulomb friction
G(q): is the gravity loading
Tô : is the vector of generalized forces associated with the generalized coordinates q
Recursive Newton-Euler formulation
•The forward recursion propagates kinematic (such as angular velocities, angular accelerations, linear accelerations from the base reference frame to the end – effector .)
•The backward recursion propagates the forces and moments exerted on each link from the end - effector of manipulator to the base reference frame.
Forward recursion, (1<= i <=6), axis i+1 is rotational
Backward recursion, (6>=i>=1)
Dynamic simulation
Video ( Without control )
Dim lights
Embed Embed this video on your site