DYNAMIC CONTROL FUNCTIONS FOR A TRANSLATIONAL AXIS OF A SERIAL ROBOT STRUCTURE

The study of dynamic behavior for a robot structure, aims to determine the laws of motion, which define the control of the movements of the components of a multibody mechanical system. The process of mathematical modeling is based on simplifying hypotheses, in order to obtain workable and easy-to-use dynamic equations. Dynamic modeling of a structure requires on the other hand the knowledge of parameters such as mass, center of mass and moments of inertia for each of the component bodies of the mechanical system under study. In advanced mechanics, some of the fundamental theorems play an essential role in determining the matrix equations of dynamics known as generalized motor functions. Theorems are based on fundamental notions specific to the dynamics of mechanical systems, including kinetic energy.