Equations of Motion of Robotic System With Piezo‐Modified Viscoelastic and Magnetorheological Elements of Fractional Order

Abstract

In this communication, the Rodriguez method is proposed for modeling dynamics of the robotic system, where Lagrange’s equations of second kind of rigid bodies system in covariant form are used. Discrete hybrid elements with so called piezomodified Kelvin-Voight (PKV) and magnetorheological (MRD) type of viscoelastic models with fractional order derivatives are introduced in to the system of motion equations by means of generalized forces. The results obtained are illustrated by numerical examples.