ROBOTICS ROBOTICS 01PEEQW 01PEEQW 01PEEQW 01PEEQW Basilio Bona - - PowerPoint PPT Presentation

ROBOTICS ROBOTICS 01PEEQW 01PEEQW 01PEEQW 01PEEQW

Basilio Bona Basilio Bona DAUIN DAUIN – – Politecnico di Torino Politecnico di Torino

Industrial Robots Industrial Robots

Dynamics Dynamics

Dynamics – 1

Dynamics studies the relations between the task space forces/torques and the joint forces/torques in non-static equilibrium, i.e., in dynamic equilibrium The dynamic model can be developed applying two main approaches

Lagrange energy functions Newton-Euler vector force equilibrium

The former is conceptually simpler and will be adopted here The latter is more efficient for implementation of recursive computer algorithms; only a brief review will be presented in the following slides

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Dynamics – 2

Once the dynamic equations of the robot are obtained from the Lagrange approach Lagrange approach … The state-space differential equations are derived and used as the robot model Why the state equations are necessary?

For control algorithms study and design For control algorithms study and design For robot simulation To implement model identification or parameter estimation algorithms

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Newton-Euler approach – 1

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Newton-Euler approach – 2

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Newton-Euler approach – 3

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Newton-Euler approach – 4

i

b c

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i i

c

Newton-Euler approach – 5

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Newton-Euler approach – 6

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