Lagrange II Dynamics and that of Forces Exemplified on a Basic Robot, 2 DoF
- 1 Department of Transportation, Traffic and Logistics, Bucharest Polytechnic University, Bucharest, Romania
The paper presents two dynamic methods applied to a basic articulated robot, 2 DoF, the first being an original adaptation of the type II Lagrange equations and the second being a dynamic method based on the influence of the forces in the robot mechanism. Both methods are original, as they were designed and applied by the author to a 2 DoF basic robot. In the presentation, the results obtained by the two different dynamic methods are compared. It is interesting that although the differential equations obtained by the two methods presented in the paper are totally different, the results obtained with both models are very close in values. All simulations were processed with the help of Mathcad professional software.
Copyright: © 2023 Relly Victoria Virgil Petrescu. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
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- Nonlinear Dynamics
- DoF Robot Mechanism
- Type II Lagrange Equations