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Module 9 : Robot Dynamics & controls

Lecture 32 : General procedure for dynamics equation forming and introduction to control

Proper Characteristics of Dynamical equation of Robot Manipulator:

we know that

for 2R manipulator

D Matrix will be then

taking

Now the matrix become

Matrix

Figure 32.2 : 2-R MANIPULATOR

Newton's Method :

We will see its application to robot

First we have to carry out kinematic analysis of the robot to find out accelerations.

Then we have to draw draw free body diagrams of robot links.

After applying Newton's second law of motion we can find out dynamical equations of system.

For complex 3D problems one can write down the vector equations of force summation for each link and use them recursively to eliminate the internal coupling forces .

Following example of NE method will explain the procedure.