Variable Structure Model of an Articulated Robotic Arm
IEEE Latin America Transactions(2015)
Abstract
In this paper, a novel method for the structure variable modeling of a two links articulated robotic arm is considered. First, the dynamic model of the robotic arm is obtained. Second, two different equilibrium points yield two different models which are derived from the first model. The different models are presented in simulations.
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Key words
Robots,Torque,Robustness,Media
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