9818247262
Example of dynamie model of SCARA (RRPR) manipulator
D(q)q+C(q,q)+G(q)=i
r, = (2.7167 + l.95C2)ćj + (0.95 + 0.975C2)ą - O.lćj, -\.95S2ÓĄ - 0.915Sj2 r2 =(0.95 + 0.975C2)6j + 0.95& -0.104 +0.975S2Ą2 /3 = 2 Ad 3 —2Ag
t, = -o.ićj-o.ią+o.ią
where: 8I; d3, 64 are joint variables
zp r2,f3, r4 are generał i zed forces 5'2=sin(02), C,=cos(ćy, g-gravitational acceleration
KADOMS KRIM, WIMIR, AGH Kraków 14
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