Abstract

CARDOSO, Eileen; FERNANDEZ, Adel; MARRERO-OSORIO, Sergio A.  and  GUARDADO, Pablo F.. Kinematic and Dynamic Models for a 4-DOF robot. EAC [online]. 2017, vol.38, n.3, pp. 56-75. ISSN 1815-5928.

In this work the kinematic and dynamic models of an industrial robot of four degrees of freedom is obtained. The kinematic model is validated through an experimental platform, a microcontroller and a high-level computer program. Based on the dynamic model, the load capacity of the manipulator are determined. The main references for the analysis of industrial robots are taken into account and a discussion of the results of several simulations is made. The models are applicable to manipulators with the same morphology in order to design mechanisms, components and controllers.

Keywords : robotic manipulator; industrial robotic; kinematic model; dynamic model.

        · abstract in Spanish     · text in Spanish     · Spanish ( pdf )