Title :
Passivity analysis and modeling of robotic arms
Author :
de Jesus Rubio, Jose ; Bravo, Adrian Gustavo ; Pacheco, Jaime ; Aguilar, Carlos
Author_Institution :
Seccion de Estudios de Posgrado e Investig., Inst. Politec. Nac., Mexico City, Mexico
Abstract :
In this paper a modified Euler Lagrange method is introduced to obtain the mathematical model of robotics arms. The proposed method obtains the same mathematical model than others; however, it is different because it does not use the Jacobians, inertia tensors, or Christoffel symbols. Furthermore, the necessary and sufficient condition to guarantee the passivity of the robotics arms is presented.
Keywords :
manipulators; partial differential equations; cylindrical robotic arms; mathematical model; modified Euler Lagrange method; passivity analysis; Analytical models; Computational modeling; Jacobian matrices; Manipulators; Mathematical model; Torque; Passivity; cylindrical robotic arm; mathematical model; transelevator;
Journal_Title :
Latin America Transactions, IEEE (Revista IEEE America Latina)
DOI :
10.1109/TLA.2014.7014505
