Modelo de Estructura Variable de un Brazo Robotico Articulado (Variable Structure Model of an Articulated Robotic Arm)

Jose de Jesus Rubio (jrubioa@ipn.mx)1, Israel Elias (i.elias.bar@gmail.com)1, Jaime Pacheco (jpachecoma@ipn.mx)1, Ramon Silva Ortigoza (rsilvao@ipn.mx)2, Panuncio Cruz (panu_ver_1984@hotmail.com)1


1Seccion de Estudios de Posgrado e Investigacion, ESIME Azcapotzalco, Instituto Politecnico Nacional
2Departamento de Mecatronica, CIDETEC, Instituto Politecnico Nacional

This paper appears in: Revista IEEE América Latina

Publication Date: Dec. 2015
Volume: 13,   Issue: 12 
ISSN: 1548-0992


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.

Index Terms:
Structure variable model, robotic arm, dynamic model   


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