Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation
Abstract
:1. Introduction
- Mechanical Structure Analysis;
- Gripper Design;
- Kinematics;
- Dynamics;
- Model-based Control of Robot Dynamical Interaction with Environment;
- Contact Forces Set;
- Trajectory Set.
2. Materials and Methods
- Euler–Newton formulation: to describe the bodies of the rigid dynamic, it is an effective way for complex systems and is used to assemble the equation of the motion using the algorithms;
- Lagrangian formulation: using the kinetic and potential energy of the robot, it is effective for simple systems with few bodies that have a degree of freedom.
2.1. Mechanical Structure
2.2. Forward Kinematics
2.3. Robot Dynamics
2.4. Robot Control
2.5. Impedance Control
2.6. Simulink Model
3. Results and Analysis
4. Conclusions
Supplementary Materials
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Kondratev, S.; Meshcheryakov, V. Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation. Computation 2022, 10, 143. https://doi.org/10.3390/computation10090143
Kondratev S, Meshcheryakov V. Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation. Computation. 2022; 10(9):143. https://doi.org/10.3390/computation10090143
Chicago/Turabian StyleKondratev, Sergei, and Victor Meshcheryakov. 2022. "Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation" Computation 10, no. 9: 143. https://doi.org/10.3390/computation10090143