Resumen
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.
Idioma original | Inglés |
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Número de artículo | 7014505 |
Páginas (desde-hasta) | 1389-1397 |
Número de páginas | 9 |
Publicación | IEEE Latin America Transactions |
Volumen | 12 |
N.º | 8 |
DOI | |
Estado | Publicada - 1 dic. 2014 |