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http://hdl.handle.net/20.500.12188/3708
Title: | Dynamic modeling and simulation of three-member robot manipulator | Authors: | Mickoski, Hristijan Mickoski, Ivan Djidrov, Marjan |
Keywords: | manipulator, model dynamic analysis, robot model simulation | Issue Date: | Oct-2018 | Journal: | Mathematical Models in Engineering | Series/Report no.: | Vol. 4;Issue 4 | Abstract: | Dynamic model analysis of manipulator as mechanical structure is presented for further purpose in actuator selection and process for establishing control strategy. Control problems involves determination of control forces and moments applied in manipulator joints that will ensure movements along a certain defined trajectory. Trajectory design is the basis for the manipulator control process. This problem is quite complex because the manipulator is a connected system in which the movement of a member affects the movement of other. Therefore, in following is presented a method for forces and moments determination in kinematic joints of a three-member manipulator analytically and also by using simulation dynamical model in the Matlab/Simulink program package. The friction forces in the kinematics joints are not taken into account. | URI: | http://hdl.handle.net/20.500.12188/3708 | DOI: | https://doi.org/10.21595/mme.2018.20319 |
Appears in Collections: | Faculty of Mechanical Engineering: Journal Articles |
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