Modeling and simulation of a robot with four degrees of freedom
DOI:
https://doi.org/10.52428/20758944.v14i43.762Keywords:
Mathematical modeling, Simulation, Robot with four degrees of freedom, RoboticsAbstract
This document shows step by step the procedure to find the dynamic model of a robot with four degrees of freedom; this was achieved with the help of an important mathematical tool: The Lagrange equations of motion. After finding the equations that govern the motion of the robot, the simulations of the obtained mathematical model were performed by using the Matlab-Simulink software, ali this to graph the trajectory of the last robot link introducing different input parameters (torque) to the joints. The CAD design of the robot were performed by usingthe SolidWorks software, this to find the physical properties of the robot links like mass, center of mass and moments of inertia.
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References
Gray, M. A. (s.f.). lntroduction to the Simulation of Dynamics Using Simulink. Boca Raton, Florida: Chapman & Hall/CRCComputational Science.
Kelly, R. y Victor, S. (2003). Control de Movimiento de Robots Manipuladores. Madrid, España: Pearson Educación.
Nuruzzaman, M. {2005). Modeling and Simulation in Simulink far Engineers and Scientists. Indiana, EE. UU.: AuthorHouse.
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Copyright (c) 2018 Edson Gastón Montaño Bautista y Edgar Roberto Ramos Silvestre
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