Manuscript received July 1, 2023; revised August 3, 2023; accepted October 12, 2023; published January 2, 2024
Abstract—The position in space of the joints of the robots, as well as the successive or simultaneous movements influence the dynamic behavior of the robots. In order to highlight these important influences on the dynamic behavior of robotic structures, a proper new software platform was created under the LabView kernel with the help of which these influences can be highlighted. Following the analysis of the state of art, respectively the following software platforms: Workspacelt, Robotic simulation, Ni-robotics, RoboNaut, Simrobot, Open dynamics engine, Robot studio, RoKiSim, Dart, Nvidia Physx, Bullet physics, Ros, Dynamics Engine, Gazebo, Robotech was concluded that these platforms do not highlight these objectives, which were the reason to create the new research platform. The proper platform ROBOPVAFM ensures the assisted research of the analysis of positions, velocities, accelerations, forces and moments in the joints of the following type of robots: Articulated Arm, Cartesian, Scara, Double Portal. The platform gives the possibility to choosing the type of movement, materials, calculate the masses of the robot’s bodies, generating body-joints and joints-body matrices, calculate the tensors of inertia, research the variation of the kinematic moment. The platform ensures the solution of the forward kinematics (FK) and the inverse dynamics (ID). The platform will be able to be used in other multi-robot applications or other mechanical applications.
Keywords—space joint position, simultaneously movements, assisted research, forward kinematics, inverse dynamics, virtual LabView instrumentation
Cite: Adrian Olaru, Adrian Alexei, Serban Olaru, and Niculae Mihai, "Analyze of the Influence of the Joints Positions and the Type of Movements to the Dynamic Behavior in Robotics," International Journal of Modeling and Optimization, vol. 14, no. 1, pp. 1-7, 2024.
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