OBJECT-ORIENTED MODELING OF MANIPULATION SYSTEMS DYNAMICS BASED ON TRANSFORMATION MATRICES OF HOMOGENEOUS COORDINATES

 cover 2-15-2017

OBJECT-ORIENTED MODELING OF MANIPULATION SYSTEMS DYNAMICS BASED ON TRANSFORMATION MATRICES OF HOMOGENEOUS COORDINATES

O.N. Krakhmalev
PhD in Technical Sciences, Bryansk State Technical University, Assistant Professor, 7, Bulvar 50-letiya Oktyabrya, Bryansk, 241035, Russia, tel.: +7(4832)58-82-85, This email address is being protected from spambots. You need JavaScript enabled to view it.


Abstract
An object-oriented approach is proposed for building of the dynamic models of manipulation systems. Dynamic models are obtained on the basis of the Lagrange-Euler method using transformation matrices of homogeneous coordinates. The advantages and prospects of this method are indicated and compared with the Newton-Euler method. By the examples of concrete dynamic models, the structure of classes is distinguished. The classes correspond to the objects of the dynamic models. The proposed structure of the base and derived classes allows building of various dynamic models. This approach can be implemented in modeling of the motion of manipulation robots and mechatronic devices.

Key words
Dynamics of systems of bodies, dynamic models, Lagrange-Euler method, Newton-Euler method, open kinematic structures, manipulation systems, manipulation robots, motion modeling, homogeneous coordinate transformation matrices, object-oriented approach.

Bibliographic description
Krakhmalev, O. (2017). Object-Oriented Modeling of Manipulation Systems Dynamics Based on Transformation Matrices of Homogeneous Coordinates. Robotics and Technical Cybernetics, 2(15), pp.32-36.

UDC identifier
531.391+621.865.8

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