Derivation and analysis of a dynamic model of a robotic manipulator on a moving base

Cyprian Wronka; Mathew Walter Dunnigan

doi:10.1016/j.robot.2011.05.010

Derivation and analysis of a dynamic model of a robotic manipulator on a moving base

Cyprian Wronka, Mathew Walter Dunnigan

Research output: Contribution to journal › Article › peer-review

24 Citations (Scopus)

Abstract

A dynamic model of a robotic manipulator mounted on a moving base is derived using the Euler–Lagrange approach. It is assumed that the base inertia is large enough not to be influenced by the manipulator motion and therefore can be treated as a time-varying parameter in the dynamic equations. The presented
derivation is applied to a Mitsubishi PA10-6CE robotic manipulator mounted on a 2-DOF platform. The model is analysed by comparing simple closed-loop control results of the simulated model with experimental data from the manipulator mounted on the platform.

Original language	English
Pages (from-to)	758-769
Number of pages	12
Journal	Robotics and Autonomous Systems
Volume	59
Issue number	10
DOIs	https://doi.org/10.1016/j.robot.2011.05.010
Publication status	Published - Oct 2011

Keywords

Robotic manipulator
Moving base
Dynamic model derivation
Dynamic model terms incorporation

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10.1016/j.robot.2011.05.010

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abstract = "A dynamic model of a robotic manipulator mounted on a moving base is derived using the Euler–Lagrange approach. It is assumed that the base inertia is large enough not to be influenced by the manipulator motion and therefore can be treated as a time-varying parameter in the dynamic equations. The presented derivation is applied to a Mitsubishi PA10-6CE robotic manipulator mounted on a 2-DOF platform. The model is analysed by comparing simple closed-loop control results of the simulated model with experimental data from the manipulator mounted on the platform.",

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AB - A dynamic model of a robotic manipulator mounted on a moving base is derived using the Euler–Lagrange approach. It is assumed that the base inertia is large enough not to be influenced by the manipulator motion and therefore can be treated as a time-varying parameter in the dynamic equations. The presented derivation is applied to a Mitsubishi PA10-6CE robotic manipulator mounted on a 2-DOF platform. The model is analysed by comparing simple closed-loop control results of the simulated model with experimental data from the manipulator mounted on the platform.

KW - Robotic manipulator

KW - Moving base

KW - Dynamic model derivation

KW - Dynamic model terms incorporation

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DO - 10.1016/j.robot.2011.05.010

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JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

IS - 10

ER -

Derivation and analysis of a dynamic model of a robotic manipulator on a moving base

Abstract

Keywords

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