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In this paper, we rely on the equivalent dynamic approach to compensate external forces applied to the upper part of the robot. This study allows us to determine on-line the required movements and accelerations of the two arms in order to maintain the robot stability. We firstly develop the kinematics and dynamic equations of the robot under perturbations. Then, we use the SimMechanics platform to...
The aim of this article is the simulation and the control of three degree of freedom robotic arms using brushless DC motors. The two arms are used to maintain the stability of the robot in presence of external disturbances. We used an analytical approach based on the inverse dynamic model to determine the necessary configurations of the arms to stabilize the robot. The control of robotic arm is achieved...
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