Authors: Cajić, Milan 
Lazarević, Mihailo
Affiliations: Mathematical Institute of the Serbian Academy of Sciences and Arts 
Title: Equations of Motion of Robotic System With Piezo-Modified Viscoelastic and Magnetorheological Elements of Fractional Order
Journal: Proceedings in Applied Mathematics and Mechanics
Volume: 13
Issue: 1
First page: 227
Last page: 228
Conference: 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Novi Sad 2013
Editors: Cvetković, L.
Atanacković, T.
Kostić, V.
Issue Date: 2013
Rank: M33
ISSN: 1617-7061
DOI: 10.1002/pamm.201310109
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 piezo‐modified 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.
Publisher: Wiley
Project: Dynamics of hybrid systems with complex structures. Mechanics of materials. 
Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design 

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