TY - JOUR
AU - Truc, Le Ngoc
AU - Quyen, Nguyen Van
AU - Quang, Nguyen Phung
PY - 2020/02/27
Y2 - 2024/07/22
TI - DYNAMIC MODEL WITH A NEW FORMULATION OF CORIOLIS/CENTRIFUGAL MATRIX FOR ROBOT MANIPULATORS
JF - Journal of Computer Science and Cybernetics
JA - JCC
VL - 36
IS - 1
SE - Articles
DO - 10.15625/1813-9663/36/1/14557
UR - https://vjs.ac.vn/index.php/jcc/article/view/14557
SP - 89--104
AB - <span>The paper presents a complete generalized procedure based on the Euler-Lagrange equations to build the matrix form of dynamic equations, called dynamic model, for robot manipulators. In addition, a new formulation of the Coriolis/centrifugal matrix is proposed. The link linear and angular velocities are formulated explicitly. Therefore, the translational and rotational Jacobian matrices can be derived straightforward from definition, which makes the calculation of the generalized inertia matrix more convenient. By using Kronecker product, a new Coriolis/centrifugal matrix formulation is set up directly in matrix-based manner and guarantees the skew symmetry property of robot dynamic equations. This important property is usually exploited for developing many control methodologies. The validation of the proposal formulation is confirmed through the symbolic solution and simulation of a typical robot manipulator.</span>
ER -