Passivity analysis and modeling of robotic arms

Research output: Contribution to journalArticleResearchpeer-review

9 Citations (Scopus)

Abstract

© 2014, IEEE Computer Society. All rights reserved. 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 languageAmerican English
Pages (from-to)1389-1397
Number of pages1249
JournalIEEE Latin America Transactions
DOIs
StatePublished - 1 Dec 2014

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Robotic arms
robotics
Mathematical models
inertia
modeling
Tensors
analysis
method

Cite this

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author = "Rubio, {J. De J} and Bravo, {A. G.} and J. Pacheco and C. Aguilar",
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Passivity analysis and modeling of robotic arms. / Rubio, J. De J; Bravo, A. G.; Pacheco, J.; Aguilar, C.

In: IEEE Latin America Transactions, 01.12.2014, p. 1389-1397.

Research output: Contribution to journalArticleResearchpeer-review

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