Dynamics of a general multi axis robot
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The robot equations of motion are obtained from the implemented program and verified against those obtained using only Lagrange equation. The output of program for the 3 DOF robot was used to find the optimal torque using analytical optimization analysis for a given set of parameters. This procedure analysis can be used as a benchmark analysis for any optimization technique.
5p cathydoll5 27-02-2019 25 2 Download