Analisis de pasividad y modelado de brazos robóticos (Passivity analysis and modeling of robotic arms)

Jose de Jesus Rubio (jrubioa@ipn.mx)1, Adrian Gustavo Bravo (gustavo_bravo62@hotmail.com)1, Jaime Pacheco (jpachecoma@ipn.mx)1, Carlos Aguilar (carlosaguilari@cic.ipn.mx)2


1Seccion de Estudios de Posgrado e Investigacion, ESIME Azcapotzalco, Instituto Politecnico Nacional
2Centro de Investigacion en Computacion, Instituto Politecnico Nacional

This paper appears in: Revista IEEE América Latina

Publication Date: Dec. 2014
Volume: 12,   Issue: 8 
ISSN: 1548-0992


Abstract:
In this paper a modified Euler Lagrange method is introduced to obtain the mathematical model of robotics arms. The proposed method obtains the same mathematical model than others; however, it is different because it does not use the Jacobians, inertia tensors, or Christoffel symbols. Furthermore, the necessary and sufficient condition to guarantee the passivity of the robotics arms is presented.

Index Terms:
Passivity, mathematical model, transelevator, cylindrical robotic arm   


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