Dynamika robotů a jejich řízení pomocí exponenciálních matic
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In this work was accomplished a review and comparison of the methods which allows make the kinematic and dynamic models. We can distinguish two ways:- Classic and the most common way of representing a multi-link manipulator. In case of kinematic model it is algorithm Denavit-Hartenberg and the homogeneous transformation matrix, as well as the recursive method based on Newton's equations for dynamic model.- An alternative way of representing the multi-link manipulator, which is based on the exponential matrices for the kinematic and dynamic model.I had carried out analysis of manipulator ABB IRB 140. All researching was accomplished on base of this manipulator. Also compiled system description parameters, which required for mathematical model.Calculations were made using two different methods. On the basis of the results compiled two dynamic models describing the manipulator.I had done simulation and comparison the obtained characteristics based on the determined models.
In this work was accomplished a review and comparison of the methods which allows make the kinematic and dynamic models. We can distinguish two ways:- Classic and the most common way of representing a multi-link manipulator. In case of kinematic model it is algorithm Denavit-Hartenberg and the homogeneous transformation matrix, as well as the recursive method based on Newton's equations for dynamic model.- An alternative way of representing the multi-link manipulator, which is based on the exponential matrices for the kinematic and dynamic model.I had carried out analysis of manipulator ABB IRB 140. All researching was accomplished on base of this manipulator. Also compiled system description parameters, which required for mathematical model.Calculations were made using two different methods. On the basis of the results compiled two dynamic models describing the manipulator.I had done simulation and comparison the obtained characteristics based on the determined models.
In this work was accomplished a review and comparison of the methods which allows make the kinematic and dynamic models. We can distinguish two ways:- Classic and the most common way of representing a multi-link manipulator. In case of kinematic model it is algorithm Denavit-Hartenberg and the homogeneous transformation matrix, as well as the recursive method based on Newton's equations for dynamic model.- An alternative way of representing the multi-link manipulator, which is based on the exponential matrices for the kinematic and dynamic model.I had carried out analysis of manipulator ABB IRB 140. All researching was accomplished on base of this manipulator. Also compiled system description parameters, which required for mathematical model.Calculations were made using two different methods. On the basis of the results compiled two dynamic models describing the manipulator.I had done simulation and comparison the obtained characteristics based on the determined models.
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Robot, Dynamics, Control, Kinematics, Models, Denavit-Hartenberg, Newton-Euler, Lagrange-Euler, Exponential Marices, Robot, Dynamics, Control, Kinematics, Models, Denavit-Hartenberg, Newton-Euler, Lagrange-Euler, Exponential Marices