FORWARD DYNAMICS OF 3 LINK ROBOT
Jayant Khurpade
Department of Mechanical Engineering, Government Polytechnic, Gondia, India , IN
S. S. Dhami
Department of Mechanical Engineering, Government Polytechnic, Gondia, India , IN
S.S. Banwai
Department of Mechanical Engineering, Government Polytechnic, Gondia, India , IN
Keywords: 3-DOF, Lagrangian-Euler, Robot Arm, Dynamics, PID
Abstract
As the robot manipulators are widely used in today’s hi-tech industrialization for carrying out various tasks, the precise control of the wrist position is most important. For conceptualizing the structure, characteristics and functionality of robot under different operating conditions, virtual modelling and simulation becomes necessary. As robot manipulator’s dynamics forward as well as inverse are nonlinear in nature and are computationally intensive, a virtual model has been developed for the same. The dynamics based on Lagrangian-Euler form for 3DOF RRR robot manipulator is presented
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