Open AccessDYNAMIC MODEL WITH A NEW FORMULATION OF CORIOLIS/CENTRIFUGAL MATRIX FOR ROBOT MANIPULATORS
Author(s) -
Le Ngoc Truc,
Nguyen Van Quyen,
Nguyễn Tiến Quang
Publication year - 2020
Publication title -
journal of computer science and cybernetics (vietnam academy of science and technology)/journal of computer science and cybernetics
Language(s) - English
Resource type - Journals
eISSN - 2815-5939
pISSN - 1813-9663
DOI - 10.15625/1813-9663/36/1/14557
Subject(s) - jacobian matrix and determinant , sylvester's law of inertia , kronecker product , matrix (chemical analysis) , mathematics , control theory (sociology) , property (philosophy) , computer science , kronecker delta , symmetric matrix , eigenvalues and eigenvectors , physics , artificial intelligence , philosophy , materials science , control (management) , epistemology , quantum mechanics , composite material
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.