DocumentCode
475035
Title
Researches regarding the dynamic model of the serial modular portal robot with TRTTT structure using the Newton-Euler formalism
Author
Costin, I.O. ; Costin, I.
Author_Institution
Tech. Univ. Cluj-Napoca, Cluj-Napoca
Volume
2
fYear
2008
fDate
22-25 May 2008
Firstpage
350
Lastpage
355
Abstract
In this paper we study the geometric, kinematics, and dynamic model for a serial modular portal robot with a TRTTT structure, using the Maple 9.01 ([6]) application. The values of the generalized motor forces depend on various parameters, in this paper being studied the influence of the variations of the mass center positions on these generalized motor forces.
Keywords
Newton method; robot dynamics; robot kinematics; Maple application; Newton-Euler formalism; generalized motor forces; mass center positions; serial modular portal robot; Control systems; Grippers; Motion control; Portals; Robot kinematics; Service robots; Solid modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation, Quality and Testing, Robotics, 2008. AQTR 2008. IEEE International Conference on
Conference_Location
Cluj-Napoca
Print_ISBN
978-1-4244-2576-1
Electronic_ISBN
978-1-4244-2577-8
Type
conf
DOI
10.1109/AQTR.2008.4588853
Filename
4588853
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