Estimation of Grey-Box Dynamic Model of 2-DOF Pneumatic Actuator Robotic Arm Using Gravity Tests

Estimation of Grey-Box Dynamic Model of 2-DOF Pneumatic Actuator Robotic Arm Using Gravity Tests

This article describes the dynamics of a manipulator with two degrees of freedom, while the dynamic model of the manipulator’s arm is derived using Lagrangian formalism, which considers the difference between the kinetic and potential energy of the system. The compiled dynamic model was implemented...

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Bibliographic Details
Main Authors: Monika Trojanová, Tomáš Čakurda, Alexander Hošovský, Tibor Krenický
Format: Article
Language:English
Published: MDPI AG 2021-05-01
Series:Applied Sciences
Subjects:
planar robotic arm
pneumatic artificial muscle (PAM)
gravity test
dynamic model
validation
optimization
Online Access:https://www.mdpi.com/2076-3417/11/10/4490

Internet

https://www.mdpi.com/2076-3417/11/10/4490

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