Lagrange and Newton-Euler dynamic modeling of a gear-driven robot manipulator with inclusion of motor inertia effects

Authors: Sciavicco, Lorenzo; Siciliano, Bruno; Villani, Luigi

Source: Advanced Robotics, Volume 10, Number 3, 1995 , pp. 317-334(18)

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Abstract:

This paper is aimed at presenting the dynamic model of a gear-driven rigid robot manipulator. The dynamic effects of the motion of the motors driving the joints through gears are analyzed. A complete model is derived using the Lagrange formulation in which the contributions of rotor inertias and rotor-link interactions are evidenced. The resulting equations of motion are shown to be linear in terms of a suitable set of dynamic parameters for the augmented links (links with motors). These are utilized for model derivation using the recursive Newton-Euler formulation. The explicit dynamic model for an elbow manipulator is developed.

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855395X00427

Affiliations: 1: Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico , Via Claudio 21, 80125 Napoli, Italy

Publication date: 1995-01-01