Dynamic model of space robot manipulator

The Simplified Dynamic Model of a Robot Manipulator

The analytical model of a robot dynamics represents an important tool for both the analysis and the synthesis of robot control algorithms. Based on the Euler-Lagrange formalism, the contribution presents a MATLAB-SIMULINK dynamic model of the 3-DOF anthropomorphic robot manipulator with revolute joints. A significant simplification of the model has been accomplished via the concentration of the...

Dynamic Modeling of a Robot Manipulator for Opening the Tap Hole of an Electric Arc Furnace

The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in the hot environment around the furnace is a potentially dangerous and time consuming task for the workers. Therefore, it is ess...

On Control of Free - Flying Space Robot Manipulator Systems

Dynamic Modelling of a Two-link Flexible Robot Manipulator

This paper presents dynamic modelling of a two-link flexible manipulator system. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. A two-link flexible manipulator incorporating structural damping, hub inertia and payload is considered. An explicit, complete, and accurate nonlinear dyna...

Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560

Current industrial robots are made very heavy to achieve high Stiffness which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the required energy to move the system. The requirement for higher speed and better system performance makes it necessary to consider a new generation of light weight manipulators as an alternative to today's massive in...