期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：5
页码：170
DOI：10.5772/51305
语种：English
出版社：SAGE Publications
摘要：The main goal of this manuscript is to present a simplification of the Euler-Lagrange methodology, which allows us to simplify the obtaining of dynamic model of a robot using the intrinsic properties of dynamic model, which allows to reduce the computation time when the model is programmed. Using the L 2 norm, the proposed methodology is compared with the Euler-Lagrange methodology for obtaining a performance index to determine the proposed simplification efficiency. The main contribution of this manuscript is to present a methodology to obtain the completely symmetric dynamic model.
关键词：Methodology synthesized; dynamic model; performance index
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