Mathematical model of a four-degree-of-freedom robot

Mathematical model of a four-degree-of-freedom robot

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In this book, the kinematic and dynamic modelling of a four-degree-of-freedom robotic arm is carried out. These models are essential both in the mechanical design phase and in the controller design phase for a robotic manipulator. In order to achieve the objectives of this work, a bibliographic review of the evolution of industrial robotics and of the existing modelling techniques was carried out. Among the procedures used, the Denavit and Hartenberg methodology, the use of homogeneous transformation matrices and the Euler-Lagrange method stand out.The result of this thesis includes the design...