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Types of mathematic models of manipulators
Manipulator model types depending on the modelling aim: GEOMETRICAL MODEL - a set of algebraic equations describing position and orientation of end-effector in robot workspace KINEMATIC MODEL a set of algebraic eąuations expressing velocity and aeceleration of robot links and end-effector during motion (causes of motion - forces - are neglected)
STATIC MODEL - a set of algebraic equations describing statie force balance of a manipulator
DYNAMIC MODEL - a set of differential equations that defines relationship between forces acting on manipulator, its mass distribution and its kinematic parameters that describe its motion.
Mathematical model is an equation or a set of equations in generał form
.f(x)=0
KADOMS KRIM, W1MIR, AGH Kraków 11
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