Fractional Order Model of the dynamic of manipulate robots of 1, 2 & 3 DOF
DOI:
https://doi.org/10.46842/ipn.cien.v24n2a06Keywords:
dynamic-model, fractional-order, manipulatorsrobots, programming, 1, 2, 3 DOFAbstract
This document presents the fractional-order modeling of the dynamic of robots manipulators of 1, 2 and 3 degrees of freedom (DOF). It is considered a basic physical parameter, the mass inertia of the links used. Freecad software is used for mechanical design. The demonstration of the stability of the fractionalorder model is shown using Lyapunov's second method for stability. The dynamic model is simulated and. In the case of the manipulators of 2 and 3 DOF trajectories are shown in a plane (x, y) and a space (x, y, z) respectively. The models are programmed in a microcontroller based development board, the advantage of this board are its output peripherals since it has two analog output channels sent to an oscilloscope, the results obtained are in line with the models shown.
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