Abstract
This article describes the dynamics of a manipulator with two degrees of freedom, while the dynamic model of the manipulator’s arm is derived using Lagrangian formalism, which considers the difference between the kinetic and potential energy of the system. The compiled dynamic model was implemented in Matlab, taking into account the physical parameters of the manipulator and friction term. Physical parameters were exported from the 3D CAD model. A scheme (model) was compiled in the Simulink, which was used for the subsequent validation process. The outputs of the validations were compared with measured data of joint angles from the system (expected condition) obtained by using gravity tests. For obtaining better results were parameters of the model optimizing by using the Trust Region Algorithm for Nonlinear Least Squares optimization method. Therefore, the aim of the research described in the article is the comparison of the model with the parameters that come from CAD and its improvement by estimating the parameters based on gravitational measurements. The model with estimated parameters achieved an improvement in the results of the Normal Root Mean Square Error compared to the model with CAD parameters. For link 1 was an improvement from 28.49% to 67.93% depending on the initial joint angle, and for link 2, from 63.84% to 66.46%.
Highlights
Introduction and Related WorksRobotics has been an area of research that has attracted the attention of scientists around the world for many decades, but in recent years has enjoyed enormous interest, especially in the safe interaction between humans and robots [1]
The model output for link 1 achieved the best result based on both statistical indicators at an initial joint angle of 10◦ (MAE = 1.0932 and NRMSE = 35.47%)
It can be seen that based on the MAE indicator, the model at the initial joint angle of 10◦ (MAE = 0.6076) is the best, while based on the NRMSE indicator, it is the model at an initial joint angle of 40◦, with
Summary
Introduction and Related WorksRobotics has been an area of research that has attracted the attention of scientists around the world for many decades, but in recent years has enjoyed enormous interest, especially in the safe interaction between humans and robots [1]. The robotic system may be assigned tasks that a person cannot perform in some respects, e.g., if the operations are physically demanding for a person, or if the activity requires high accuracy of movement, or last but not least, the operating and working conditions are not suitable for human work in the vicinity of such a mechanism. All these facts give researchers from different fields many actuations to progress in the research and development of robots and manipulators, whether in the process of designing [2,3], production or the actual application of robots [4,5,6,7]. Ref. [6], using Lab Activities, helps to understand the parallel between the theory and the application of industrial robotics
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