Dynamic Modelling of a Four-Degree-of-Freedom Robotic Manipulator
Morris, A.S. and Neea, F
(1982)
Dynamic Modelling of a Four-Degree-of-Freedom Robotic Manipulator.
Research Report.
ACSE Report 190
.
Department of Control Engineering, University of Sheffield, Mappin Street, Sheffield
Abstract
The paper is concerned with deriving a dynamic model of a four-degree-of-freedom robotic manipulator. The equations of motion of the arm with respect to a non-stationary coordinate system are derived initially. This analysis is then extended to a robot arm, and consideration of inertial effects included. The dynamic model developed is useful without modification for arm speed control purposes. However, further work is required to include the effect of bending movements in the arm links before the analysis is generally applicable in accurate position control applications.
Metadata
Item Type:
Monograph
Authors/Creators:
Morris, A.S.
Neea, F
Copyright, Publisher and Additional Information:
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