Dynamic Analysis of an Industrial Robot Manipulator Using Dual Numbers

Author

Herrera, R. Tapia ; Montúfar, C. Palacios ; Montes, S. Alcántara ; Campos, J. A Flores

Author_Institution

Dept. of Mech. Eng., Zacatenco Inst. Politec. Nac., Mexico City, Mexico

fYear

2010

fDate

Sept. 28 2010-Oct. 1 2010

Firstpage

331

Lastpage

336

Abstract

The dual algebra in this paper is used to solve in explicit form the dynamic model of a robotic manipulator with 5 degrees of freedom and 5R topology. The dynamic analysis is developed applying the dual momentum and the D´Alembert principle, allowing compute the dual reaction forces in each joint, the dual Jacobian is obtained from the dual velocity analysis, in this way a dual trajectory planning is proposed in order to extend the capabilities of a 3D simulation software for an Experimental Industrial Robotic Manipulator (EIRM), if the topology will change. Finally a comparison between the results of dual numbers and Lagrange - Euler formulation is made, with the purpose of determinate the dual algebra efficiency.

Keywords

Jacobian matrices; industrial manipulators; manipulator dynamics; number theory; path planning; 3D simulation software; 5R topology; D´Alembert principle; Experimental Industrial Robotic Manipulator; Lagrange-Euler formulation; dual Jacobian; dual algebra; dual momentum; dual numbers; dual reaction forces; dual trajectory planning; dual velocity analysis; dynamic analysis; dynamic model; industrial robot manipulator; Algebra; Force; Joints; Manipulators; Mathematical model; Torque; dual algebra; dual jacobian; dual momentum; dual numbers; robot dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010

Conference_Location

Morelos

Print_ISBN

978-1-4244-8149-1

Type

conf

DOI

10.1109/CERMA.2010.45

Filename

5692358