Passivity analysis and modeling of robotic arms

J. De J. Rubio; A. G. Bravo; J. Pacheco; C. Aguilar

doi:10.1109/TLA.2014.7014505

Passivity analysis and modeling of robotic arms

J. De J. Rubio, A. G. Bravo, J. Pacheco, C. Aguilar

Research output: Contribution to journal › Article › peer-review

17 Scopus citations

Abstract

In this paper a modified Euler Lagrange method is introduced to obtain the mathematical model of robotics arms. The proposed method obtains the same mathematical model than others; however, it is different because it does not use the Jacobians, inertia tensors, or Christoffel symbols. Furthermore, the necessary and sufficient condition to guarantee the passivity of the robotics arms is presented.

Original language	English
Article number	7014505
Pages (from-to)	1389-1397
Number of pages	9
Journal	IEEE Latin America Transactions
Volume	12
Issue number	8
DOIs	https://doi.org/10.1109/TLA.2014.7014505
State	Published - 1 Dec 2014

Keywords

Cylindrical robotic arm
Mathematical model
Passivity
Transelevator

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10.1109/TLA.2014.7014505

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title = "Passivity analysis and modeling of robotic arms",

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author = "Rubio, {J. De J.} and Bravo, {A. G.} and J. Pacheco and C. Aguilar",

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AU - Bravo, A. G.

AU - Pacheco, J.

AU - Aguilar, C.

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AB - In this paper a modified Euler Lagrange method is introduced to obtain the mathematical model of robotics arms. The proposed method obtains the same mathematical model than others; however, it is different because it does not use the Jacobians, inertia tensors, or Christoffel symbols. Furthermore, the necessary and sufficient condition to guarantee the passivity of the robotics arms is presented.

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KW - Mathematical model

KW - Passivity

KW - Transelevator

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Passivity analysis and modeling of robotic arms

Abstract

Keywords

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