Dynamics Modelling of a Robotic Arm with Free Flying Base using Lagrangean Mechanics
Luciano Mateus Unfried1; Ijar M. da Fonseca2; Luis C. S. Goes2
1 Instituto Tecnológico de Aeronáutica - ITA; 2 Instituto Tecnológico de Aeronáutica
doi:10.20906/CPS/CON-2016-1360
Resumo
The objective of this paper is to present how to use the well known Lagrange Mechanics and the Lagrange Multipliers in a way to derive the dynamic model of a robotic arm assembled over a 6 degrees of freeedom free flying platform which can be simulated in a low friction simulated enviroment inside a laboratory. The dynamic model can also be used to help to design a control system and help the control system during operation knowing the reaction forces during all time.
Palavras-chave: Dynamic Modelling; Robotic Arm; Lagrangian Mechanics; Lagrange Multipliers