INVERSE AND FORWARD KINEMATICS AND DYNAMICS OF A TWO LINK ROBOT ARM

被引：2

作者：

Hroncova, Darina ^{[1
]}

Sarga, Patrik ^{[1
]}

Sincak, Peter Jan

Merva, Tomas ^{[1
]}

Brada, Leo ^{[1
]}

机构：

[1] Tech Univ Kosice, Fac Mech Engn, Kosice, Slovakia

来源：

MM SCIENCE JOURNAL | 2023年 / 2023卷

关键词：

Robot; trajectory; computer simulation; kinematics; dynamics; forward; inverse; Matlab; Simulink; SYSTEM;

D O I：

10.17973/MMSJ.2023_12_2023067

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper deals with the kinematic and dynamic analysis of a two-element robot model. We have solved the problem using inverse kinematics. The result is the plotted trajectory of the robot's end point along defined points of the robot's workspace. The angular quantities computed are the rotation angle, angular velocity and angular acceleration in each kinematic pair. Furthermore, an inverse dynamics problem is solved. The moments in the kinematic pairs are computed. Subsequently, using the direct dynamics problem, the correctness of the obtained solution is confirmed. The programs designed for the simulation of dynamical systems -Matlab/Simulink and SimMechanics -were used in the solution. The results are presented in the form of graphs and tables.

引用

页码：7085 / 7092

页数：8

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