DocumentCode
27822
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
Volume
12
Issue
8
fYear
2014
fDate
Dec. 2014
Firstpage
1389
Lastpage
1397
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;
fLanguage
English
Journal_Title
Latin America Transactions, IEEE (Revista IEEE America Latina)
Publisher
ieee
ISSN
1548-0992
Type
jour
DOI
10.1109/TLA.2014.7014505
Filename
7014505
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