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SCARA robot of 4 g.d.l. Source: Our elaboration

SCARA robot of 4 g.d.l. Source: Our elaboration

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This research introduces the development of the implementation and comparison of algorithms of numeric methods which solve a system of ordinary differential equations, commonly known like solvers. These were applied to a robotic system with 4 grades of freedom in open loop based on the non-linear dynamic model in the joint space. The performance of...

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... robotic system to be used in the methodology of this work is a rigid manipulator SCARA (Selective Compliance Articulated Robot Arm) of 4 g.d.l. According to Fig. 1, the arm consists of 3 rotational joints θ1, θ2 and θ3; as well as a translational joint, denoted by d4. December 2020 Vol.4 No. The dynamics of the movement in the articulation space of this manipulator, it is possible to know it through its mathematical model, which is obtained through the EulerLagrange methodology, where it has been ...

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... However, both control law analysis and synthesis will be made using continuoustime solvers provided by some incremental time-originated step ∆t, which can be found, e.g., in the Matlab environment [24,25]. The influence of the time interval will be taken into account during the entirety of the process of perfect control realization and validation. ...
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