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Dynamic analysis of an n-revolute planar serial manipulator and sensitivity analysis based on Sobol's method

Mehrafrooz, B ; Sharif University of Technology | 2015

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  1. Type of Document: Article
  2. DOI: 10.1109/ICRoM.2015.7367846
  3. Publisher: 2015
  4. Abstract:
  5. In this paper, dynamic modeling and dynamic sensitivity analysis of an n-revolute planar serial robot are investigated. First, a dynamic modeling algorithm is proposed which is based on the concept of the so-called Natural Orthogonal Complement. The main goal of this algorithm consists in deriving the corresponding dynamic equations of a planar serial manipulator systematically. As a comparison study, 3-DOF a planar serial manipulator is modeled and the results of the proposed algorithm is compared with other methods, i.e., Newton-Euler, Lagrange-Euler, Adams software and an Open Dynamics Engine, the so-called MatODE. Then, in order to develop a dynamic sensitivity analysis scheme, Sobol's method is employed. By the use of inverse kinematics analysis of the robots for a predefined trajectory of end-effector, the joint coordinates, angular velocities and angular accelerations are founded for a given period of time. Then the sensitivity of delivering torques to joint coordinates, angular velocities and angular accelerations are analyzed. The sensitivity analysis is developed for two planar serial robots, 2-R and 3-R. The results reveal that actuating torques are more sensitive to joint coordinates with respect to angular velocities and accelerations
  6. Keywords:
  7. N-revolute planar serial manipulator ; Natural Orthogonal Complement ; Open Dynamics Engine ; Angular velocity ; End effectors ; Engines ; Industrial manipulators ; Inverse kinematics ; Inverse problems ; Manipulators ; Redundant manipulators ; Robotics ; Robots ; Dynamic sensitivity analysis ; Open dynamics engines ; Orthogonal complements ; Serial manipulators ; Sobol's method ; Sensitivity analysis
  8. Source: International Conference on Robotics and Mechatronics, ICROM 2015, 7 October 2015 through 9 October 2015 ; 2015 , Pages 569-574 ; 9781467372343 (ISBN)
  9. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7367846