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Canonical Representation of Manipulator Dynamics

  • Tzvetkova, Galia V.
A structural analysis of the matrix form of Lagrangian function, presenting the dynamic model of a controllable n-links mechanical system, is made. The linear dependence or independence of columns of coefficients in the matrix regression model of the dynamics gives the basis for eliminating or combining the classical mass-inertial parameters of the system. As a result of the structural analysis, a canonical dynamic model is proposed. The model ensures the minimum number of computation operations for the purpose of studying the overall dynamic behavior of an n-links manipulation robot.
Select Volume / Issue:
Year:
2016
Type of Publication:
Article
Keywords:
Manipulation Robots; Canonical Dynamic Model; Structural Analysis; Linearly Dependent Matrix Columns
Journal:
IJASM
Volume:
3
Number:
6
Pages:
221-222
Month:
November
ISSN:
2394-2894
Hits: 1151

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