TY - GEN
T1 - Dynamic analysis of an industrial robot manipulator using dual numbers
AU - Tapia Herrera, R.
AU - Palacios Montúfar, C.
AU - Alcántara Montes, S.
AU - Flores Campos, J. A.
PY - 2010
Y1 - 2010
N2 - The dual algebra in this paper is used to solve in explicit form the dynamic model of a robotic manipulator with 5 degrees of freedom and 5R topology. The dynamic analysis is developed applying the dual momentum and the D'Alembert principle, allowing compute the dual reaction forces in each joint, the dual Jacobian is obtained from the dual velocity analysis, in this way a dual trajectory planning is proposed in order to extend the capabilities of a 3D simulation software for an Experimental Industrial Robotic Manipulator (EIRM), if the topology will change. Finally a comparison between the results of dual numbers and Lagrange - Euler formulation is made, with the purpose of determinate the dual algebra efficiency.
AB - The dual algebra in this paper is used to solve in explicit form the dynamic model of a robotic manipulator with 5 degrees of freedom and 5R topology. The dynamic analysis is developed applying the dual momentum and the D'Alembert principle, allowing compute the dual reaction forces in each joint, the dual Jacobian is obtained from the dual velocity analysis, in this way a dual trajectory planning is proposed in order to extend the capabilities of a 3D simulation software for an Experimental Industrial Robotic Manipulator (EIRM), if the topology will change. Finally a comparison between the results of dual numbers and Lagrange - Euler formulation is made, with the purpose of determinate the dual algebra efficiency.
KW - Dual algebra
KW - Dual jacobian
KW - Dual momentum
KW - Dual numbers
KW - Robot dynamics
UR - http://www.scopus.com/inward/record.url?scp=79951644009&partnerID=8YFLogxK
U2 - 10.1109/CERMA.2010.45
DO - 10.1109/CERMA.2010.45
M3 - Contribución a la conferencia
AN - SCOPUS:79951644009
SN - 9780769542041
T3 - Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
SP - 331
EP - 336
BT - Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
T2 - 2010 7th IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
Y2 - 28 September 2010 through 1 October 2010
ER -