Open AccessStudy on Trajectory Motion and Computational Analysis of Robot Manipulator
Author(s) -
Siti Nur Hanisah Umar,
Elmi Abu Bakar
Publication year - 2014
Publication title -
jurnal teknologi
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.191
H-Index - 22
eISSN - 2180-3722
pISSN - 0127-9696
DOI - 10.11113/jt.v67.2206
Subject(s) - crankshaft , trajectory , control theory (sociology) , computer science , lagrange multiplier , torque , ball (mathematics) , relation (database) , equations of motion , simulation , position (finance) , angular velocity , robotic arm , mathematics , engineering , physics , mechanical engineering , artificial intelligence , classical mechanics , mathematical analysis , control (management) , mathematical optimization , finance , astronomy , database , economics , thermodynamics
The relation of arm and forearm for arm pitching a ball and bowling game, relation of rotating arm and the connecting rod for crankshaft and any other mechanical system will determine the performance of the system. To obtain the best performance of the system, the study of the dynamic mechanism of the system is essential. In order to study and analyze the dynamic interaction of each link for various applications, robot links manipulator is used as a simplified model for dynamic analysis. The dynamic mathematical equation of robot manipulator is derived by using the Lagrange equation. The elevation angle and angular velocity over time of link one and two is simulated using computerized algorithm. The trajectory motion of both links is illustrated and the relation between both links is determined. The results obtained are then compared with the SimMechanics model.
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