DYNAMIC MODELLING AND OPTIMIZATION OF A REDUNDANT MANIPULATOR: APPLICATION TO SHEET METAL PLASMA CUTTING
DOI:
https://doi.org/10.18623/rvd.v23.6445Keywords:
Robotic Manipulator, Plasma Cutting, Redundancy, Inverse Dynamics, Newton–Euler Method, Optimization, Trajectory PlanningAbstract
Robotic manipulators are widely used in industrial automation, particularly in welding, machining, assembly, and thermal cutting applications. Plasma cutting requires accurate trajectory tracking, smooth dynamic behavior, and stable motion control to ensure cutting quality and process reliability. This work presents the kinematic and dynamic modelling of a planar three-degree-of-freedom redundant manipulator dedicated to sheet metal plasma cutting. The forward and inverse geometric models are established using the Denavit–Hartenberg formalism, while the differential kinematic model is derived from the Jacobian matrix. The inverse dynamic model is developed using the recursive Newton–Euler algorithm for efficient computation of joint torques and accelerations. An energy-based performance index is introduced to evaluate actuator effort along the cutting trajectory. The optimization procedure determines the optimal initial and final configurations minimizing the global torque criterion while ensuring smooth and stable motion. proposed optimization strategy improves trajectory smoothness, reduces mechanical stress, and enhances energy efficiency during the cutting process. The methodology is validated through a straight-line plasma cutting operation. Results show that the
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