Modelling and Validation of Robot Manipulators

[摘要] There are many methods to describe manipulator dynamics, the iterative Newton-Euler dynamic formulation and the Lagrange-Euler formulation are two of them. Between these two well known methods, the former has been regarded as computationally efficient, and the latter as understandable in representing manipulator dynamics. It is hard and dull to generate robot manipulator dynamic equations manually from either the iterative Newton-Euler dynamic formulation or the Lagrange-Euler formulation. Therefore, the two general programmes, which are based on these two formulations respectively and suited to rotary joint manipulators, have been written in REDUCE. After running the programmes, we find that the calculation time for generating the dynamic equations of a rotary joint manipulator by the programme based on the Lagrange-Euler formulation is much shorter than the one by the programme based on the other.

[发布机构] University:University of Glasgow

[关键词] Mechanical engineering, Robotics