Formulation of lagrangian equation and dynamic analysis of 2 - DoF Industrial robot using Roboanalyzer

Abstract

Abstract Industrial robot is extensively used in all major manufacturing and assembly line throughout the world. In order to properly actuate the robot links, it is necessary to calculate the torque required at link joints. In this paper we consider a two degrees of freedom robot manipulator having two rotary joints J1 and J2. This is a classic example of inverse dynamics problem, inverse dynamics in robotics used to calculate torque or force required at joints from known values of link mass, velocity, and acceleration and we choose lagrangian formulation to solve equation of motion. In addition, Robo analyzer software we plot the torque values for predefined value of centre of gravity and link mass.