Dynamic Modelling of a Serial Manipulator on Vector Fields

M.M. Fateh


Dynamic modelling, Euler-Lagrange equations, manipulator, vector fields


In this paper, an analytical method is proposed to derive the dynamic model of a rigid serial manipulator using the Euler-Lagrange equations. The novelty of this paper is to form the dynamic equations of manipulator on vector fields. The dynamic equations are calculated simply and more convenient in comparison with the common approach. This approach provides the dynamic equations in a matrix form directly using vector fields while in the common method the matrix form of dynamic equations are obtained indirectly. An example, a two-link elbow manipulator is modeled to demonstrate the simplicity of the method.

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