Indian Journal of Science and Technology

Abstract

Dynamics deals with not only forces but also torques necessary to lead to the motion of a system of bodies. The robot manipulators can also be approached from two different points of view: Dynamical analysis and dynamical synthesis. Dynamical analysis handles the equations of motion derivation of a specified manipulator. Two types of dynamical analysis problems exist: Direct dynamics and inverse dynamics. The computational efficiency of direct dynamics is not much as critical because it is utilized chiefly for computer simulations of a robot manipulator. Moreover, a competent inverse dynamic model turns into tremendously significant for real-time, model dependent control of a robot manipulator. A set of torque and/or force functions have to be functional at the actuated joints in the idea of generating that motion. These actuating torque and/or force functions rely not only on the spatial and attributes of the given path but also on the mass properties of the links, the pay load, the outwardly applied forces and so on. This paper deals with the dynamic analysis of a SCORBOT-ER V plus robot arm that is involved in performing victorious robotic manipulation task in its 3D workspace. This research considered mathematical dynamic model based on Lagrangian equations of motion and the result is compared with LabVIEW Software.

Keywords: Direct Dynamics, Inverse Dynamics, Lagrangien Equation, LabVIEW, Robot Manipulator