Title :
Dynamic model for hyper-redundant robots
Author :
Florin, Manta Liviu ; Sorin, Dumitru ; Dorian, Cojocaru
Author_Institution :
Fac. of Autom., Comput. & Electron., Univ. of Craiova, Craiova, Romania
Abstract :
The paper presents a novel dynamic model which can be applied for hyper-redundant robots. The proposed model combines multiple pendulum theory and Lagrange method, and was extracted to illustrate the dynamics of HipRob 01 robot, developed in our laboratory.
Keywords :
manipulator dynamics; optimisation; pendulums; redundant manipulators; HipRob 01 robot dynamics; Lagrange method; dynamic model; hyperredundant robots; pendulum theory; Computational modeling; Dynamics; Force; Kinematics; Mathematical model; Robots; Tendons; dynamic model; hyper redundant; multiple pendulum theory;
Conference_Titel :
System Theory, Control and Computing (ICSTCC), 2014 18th International Conference
Conference_Location :
Sinaia
DOI :
10.1109/ICSTCC.2014.6982524
