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Abstract
Precise controlling at one particular high-speed manipulator require realistic
dynamics model from an arm (end effector). Used approach here is to pass simulation
modeling made in a few function by using approach of equations pursuant to co-ordinate
concept, style and Force. Where from this equation will be obtained the level of torsi at each
joint which depend on inertia of manipulator, gravitation, friction, style of corolois and is
centrifugal. Maximal values and minimum values from every this equation is later expected
can useful in designing mechanical structure and controller.
Keywords: lagrange-euler, corolois, torque, joint.
dynamics model from an arm (end effector). Used approach here is to pass simulation
modeling made in a few function by using approach of equations pursuant to co-ordinate
concept, style and Force. Where from this equation will be obtained the level of torsi at each
joint which depend on inertia of manipulator, gravitation, friction, style of corolois and is
centrifugal. Maximal values and minimum values from every this equation is later expected
can useful in designing mechanical structure and controller.
Keywords: lagrange-euler, corolois, torque, joint.