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Dynamics of a General Multi-axis Robot with Analytical Optimal Torque Analysis

Atef A. Ata , Mohamed A. Ghazy, and Mohamed A. Gadou
Department of Engineering Mathematics and Physics, Faculty of Engineering, Alexandria University, Alexandria 21544, Egypt
Abstract—Robot dynamics is considered one of the most important issues in robot design and control. Many techniques were developed to find equations of motion. One of these techniques is Lagrange-Euler method which is suitable for numerical simulation. In this paper an implementation of Lagrange-Euler to find equations of motion for any general multi-axis robot giving only robot configurations is introduced. The program is verified for a 3 Degree-of-Freedom robot. 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.

Index Terms—dynamics, lagrange-euler, genetic algorithm, trajectory planning, optimal.

Cite: Atef A. Ata, Mohamed A. Ghazy, and Mohamed A. Gadou, "Dynamics of a General Multi-axis Robot with Analytical Optimal Torque Analysis," Journal of Automation and Control Engineering, Vol.1, No.2, pp. 144-148, June 2013. doi: 10.12720/joace.1.2.144-148
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