Dynamic analysis of an n-revolute planar serial manipulator and sensitivity analysis based on Sobol's method

• Published in: 2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM) pp. 569 - 574
• Main Authors: Mehrafrooz, Behzad, Mohammadi, Mohsen, Masouleh, Mehdi Tale
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2015
• Subjects: Dynamic sensitivity analysis; Engines; Heuristic algorithms; Manipulator dynamics; Mathematical model; n-revolute planar serial manipulator; Natural Orthogonal Complement; Open Dynamics Engine; Robot kinematics; Robot sensing systems; Sobol's method
• DOI: 10.1109/ICRoM.2015.7367846

In this paper, dynamic modeling and dynamic sensitivity analysis of an n-revolute planar serial robot are investigated. First, a dynamic modeling algorithm is proposed which is based on the concept of the so-called Natural Orthogonal Complement. The main goal of this algorithm consists in deriving the corresponding dynamic equations of a planar serial manipulator systematically. As a comparison study, 3-DOF a planar serial manipulator is modeled and the results of the proposed algorithm is compared with other methods, i.e., Newton-Euler, Lagrange-Euler, Adams software and an Open Dynamics Engine, the so-called MatODE. Then, in order to develop a dynamic sensitivity analysis scheme, Sobol's method is employed. By the use of inverse kinematics analysis of the robots for a predefined trajectory of end-effector, the joint coordinates, angular velocities and angular accelerations are founded for a given period of time. Then the sensitivity of delivering torques to joint coordinates, angular velocities and angular accelerations are analyzed. The sensitivity analysis is developed for two planar serial robots, 2-R and 3-R. The results reveal that actuating torques are more sensitive to joint coordinates with respect to angular velocities and accelerations.