Advanced Dynamics Processes Applied to an Articulated Robot

Abstract

The paper presents the dynamics of a 2R planar articulated robot, developed by two original methods. One is the classical “Lagrangian” adapted by the author, and the second method is absolutely original. The dynamics of the robot are based in both cases on the variation of the inertial forces in the mechanism, or practically on the influence of the masses of the moving elements of the robot. The influence of external loads, weights and the load to be transported is also taken into account. Another original element of the work is the choice of speeds in such a way that they correspond to an optimum necessary for the inverse kinematics imposed on the robot. For this reason, the dynamic operation will be quiet and without large variations or vibrations. If the speeds of the two electric motors (preferably stepper motors) areadapted to those recommended by the author, the controller (PID) used will have a very light load. It is even possible to eliminate it if the adjustment of the two stepper motors (actuators) is performed according to the speeds indicated by the author of the paper. The kinematic motion imposed by the indicated optimal speeds is dynamically and successfully checked by both methods used.