1.

Why do you need to calculate the robots dynamic model? And which are the advantages and disadvantages?

Because it gives you the torque needed in each motor of the joints or links and also you can control the osition! s eed and acceleration of every motor. "he dynamic model rovides us the relation between the robot movement and the forces in to the same! we can get the simulation movement! the design and evaluation mechanic of the robot and the design and evaluation the dynamic control of the robot. Advantages# $%ocali&ation of the every link of the robot $control motor s eed 'you can choose the best motor for your robot(s system )isadvantages# $the mass center has to be in &ero! other way you need to calculate '*t needs a lot of o erations. +. Write down some disadvantages of %agrange$,uler Algorithm

matri2 which we work is /2/ and is easier to locali&e some errors and the time res onse take less time. *f we add another link it is utted over the last link thus we don(t need to modify the entire algorithm. 6. We ,2 lain how you could obtain the inertia 7atri2 in the %, algorithm. to re lace
kj

need
n

the

values

in

this

formula

d ij =

k =max( i , j )

Traza (U

T , J k ,U ki )!

then we need to

re lace the values in the main matri2 also we need to check that when we multi ly two different a2is the result is &ero. Also you have to re lace the mass in the oint of the matri2 in which is needed. 8. )escribe ste by ste the %, algorithm.

%, 1 4btain the )$9 arameters. %, + 4btain the homogeneous transformation matri2. %, / 4btain the U ij values. %, 3 4btain the U ijk values %, 5 4btain the seudo inertia matri2 %, 6 4btain the *nertia matri2 ). %, 8 4btain the hikm values. %, : 4btain the coriolis matri2 9 %, ; 4btain the column force of gravity matri2 <. %, 1= A :. ly the equation# = Dq + H + C )escribe ste by ste the 0, algorithm.

*f we add a ending effecter we need to modify all the algorithm because the number of o eration increases de ending of the number of the links in the system. -n. Where n is the number of links. "he time res onse is too slow. /. Write down some disadvantages of 0ewton$,uler Algorithm

*f we com are this algorithm with the %a1range one! we can infer that the 0ewton(s algorithm does not have disadvantages! only advantages. "he number of o erations decreases considerably com ared to %,. "he time res onse is faster than the %,. "he o erations are made whit vectors and not with matri2 thus are more efficient. 3. What(s the algorithm? ur ose of the %agrange and 0ewton

0, 1 4btain the )$9 arameters. 0, + 4btain the rotation matri2 and inverses. 0, / ,stablish the initial conditions 0, 3 4btain the angular s eed. 0, 5 4btain the angular acceleration. 0, 6 4btain the lineal acceleration. 0, 8 4btain the lineal acceleration of the gravity center of every link 0, : 4btain the force in every link. 0, ; 4btain the ar in every link. 0, 1= 4btain the force or ar in every joint.

"o calculated the robots dynamic model. 4btain the locali&ation of the robot. 4btain the s eed and acceleration. "he forces in every joint getting the torque of every motor. "he dimensional arameters of the robot like length! mass and inertia of every link and element. 5. According whit your own e2 erience! which algorithm is better and why?

* think that the best o tion is 0$, because it takes less o erations than the %$, algorithm and also the si&e of the