Abstract
In this paper, the derivation of partial velocity in analytic form is illustrated. Then, the relation between Euler–Lagrange formulation and Kane principle formulation is presented. However, it ignores the condition that resultant moment of active force acts on end-effector. Under this circumstance, Kane principle formulation is further extended. It only considers velocity parameters instead of inertia tensor. The planar redundant manipulator with 5 degrees of freedom is taken as a case to verify the correctness of improved Kane principle formulation. By comparing torques under different methods based on experiment, Euler–Lagrange formulation, and Kane principle formulation, results confirm the importance and the nonlinear form of compensation coefficient in the dynamic model. Additionally, based on improved Newton–Euler formulation and improved Euler–Lagrange formulation, approximated dynamic models reflect that the accuracy of improved Kane principle formulation. Finally, improved Kane principle formulation provides a new method of establishing approximated dynamic models, which can justify whether trajectories in Cartesian space and joint space are reasonable.
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Yu, L. An Effective Compensation Strategy for Dynamic Model based on Improved Kane Principle Formulation. J. Inst. Eng. India Ser. C 103, 589–596 (2022). https://doi.org/10.1007/s40032-022-00836-6
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DOI: https://doi.org/10.1007/s40032-022-00836-6