Dynamic Model of a 3 DOF Direct Drive Robot and Its Control Mode

Author

Li, Dianqi ; Xue, Dingyu ; Li, Tao ; Cui, Jianguo ; Xinhe Xu

Author_Institution

Northeastern Univ., Shenyang

fYear

2007

fDate

May 30 2007-June 1 2007

Firstpage

2694

Lastpage

2698

Abstract

This paper presents a dynamic model for a robot with 3 rotational degrees of freedom (DOF) via mathematica software package based on Euler-Lagrange formulation. Then, by comparing and analyzing the results of voltage and current control modes to robots, the optimum control mode for direct-drive robots should be the current control mode is advised. Finally, this paper presents how to select drive motors for direct-drive robots by simulating the robot dynamic model. The direct-drive robot is usually used for the research of nonlinear control and visual servo control.

Keywords

control engineering computing; electric current control; mathematics computing; nonlinear control systems; robots; servomechanisms; voltage control; DOF direct drive robot; Euler-Lagrange formulation; current control modes; degrees of freedom; mathematica software package; nonlinear control; optimum control mode; robot dynamic model; visual servo control; voltage control; Aerodynamics; Automatic control; Current control; Drives; Equations; Mathematical model; Robot control; Robot kinematics; Robotics and automation; Service robots; current control; direct drive; dynamic model; robot; symbolic calculation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2007. ICCA 2007. IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

978-1-4244-0818-4

Electronic_ISBN

978-1-4244-0818-4

Type

conf

DOI

10.1109/ICCA.2007.4376851

Filename

4376851