Dynamics Modeling and Simulation of Industrial Manipulator Subject to Constraint
It is a common movement type in industrial production for the end-effector of industrial manipulator executing tasks according to desired track. The high nonlinearity and coupling are shown from the dynamics characteristic of industrial manipulator because of the constrained relationship brought by...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.06.026 |
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| _version_ | 1841547672171839488 |
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| author | Chang Shuying Yang Chuanmin Feng Feng Liu Jia |
| author_facet | Chang Shuying Yang Chuanmin Feng Feng Liu Jia |
| author_sort | Chang Shuying |
| collection | DOAJ |
| description | It is a common movement type in industrial production for the end-effector of industrial manipulator executing tasks according to desired track. The high nonlinearity and coupling are shown from the dynamics characteristic of industrial manipulator because of the constrained relationship brought by desired task.Therefore,it is difficult to establish dynamical equation with traditional Lagrange equation. Aiming at the dynamics modeling of industrial manipulator subject to constraint,the additional torque and dynamical equation of industrial manipulator subject to some desired trajectory is acquired based on the famous Udwadia-Kalaba equation in analytical mechanics field. The disadvantage of obtaining dynamical equation from traditional Lagrange equation by Lagrange multiplier is overcome by the new approach. The stimulation results of the varying law of the joint angles and the motion path of the end-effector prove that the dynamical equation established by this method conforms to the matter of fact. |
| format | Article |
| id | doaj-art-92b015c97e8e4bdcaaf4e498b673842e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-92b015c97e8e4bdcaaf4e498b673842e2025-01-10T14:22:42ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-014113814229930770Dynamics Modeling and Simulation of Industrial Manipulator Subject to ConstraintChang ShuyingYang ChuanminFeng FengLiu JiaIt is a common movement type in industrial production for the end-effector of industrial manipulator executing tasks according to desired track. The high nonlinearity and coupling are shown from the dynamics characteristic of industrial manipulator because of the constrained relationship brought by desired task.Therefore,it is difficult to establish dynamical equation with traditional Lagrange equation. Aiming at the dynamics modeling of industrial manipulator subject to constraint,the additional torque and dynamical equation of industrial manipulator subject to some desired trajectory is acquired based on the famous Udwadia-Kalaba equation in analytical mechanics field. The disadvantage of obtaining dynamical equation from traditional Lagrange equation by Lagrange multiplier is overcome by the new approach. The stimulation results of the varying law of the joint angles and the motion path of the end-effector prove that the dynamical equation established by this method conforms to the matter of fact.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.06.026ConstraintIndustrial manipulatorDynamics modelingUdwadia-Kalaba equation |
| spellingShingle | Chang Shuying Yang Chuanmin Feng Feng Liu Jia Dynamics Modeling and Simulation of Industrial Manipulator Subject to Constraint Jixie chuandong Constraint Industrial manipulator Dynamics modeling Udwadia-Kalaba equation |
| title | Dynamics Modeling and Simulation of Industrial Manipulator Subject to Constraint |
| title_full | Dynamics Modeling and Simulation of Industrial Manipulator Subject to Constraint |
| title_fullStr | Dynamics Modeling and Simulation of Industrial Manipulator Subject to Constraint |
| title_full_unstemmed | Dynamics Modeling and Simulation of Industrial Manipulator Subject to Constraint |
| title_short | Dynamics Modeling and Simulation of Industrial Manipulator Subject to Constraint |
| title_sort | dynamics modeling and simulation of industrial manipulator subject to constraint |
| topic | Constraint Industrial manipulator Dynamics modeling Udwadia-Kalaba equation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.06.026 |
| work_keys_str_mv | AT changshuying dynamicsmodelingandsimulationofindustrialmanipulatorsubjecttoconstraint AT yangchuanmin dynamicsmodelingandsimulationofindustrialmanipulatorsubjecttoconstraint AT fengfeng dynamicsmodelingandsimulationofindustrialmanipulatorsubjecttoconstraint AT liujia dynamicsmodelingandsimulationofindustrialmanipulatorsubjecttoconstraint |