DocumentCode
3029467
Title
Closed-form dynamic model of PUMA 560 robot arm
Author
Izadbakhsh, Alireza
Author_Institution
Dept. of Electr. Eng., Islamic Azad Univ., Garmsar
fYear
2009
fDate
10-12 Feb. 2009
Firstpage
675
Lastpage
680
Abstract
This paper investigates an explicit dynamic model of the PUMA 560 robot manipulators, based on standard Denavit-Hartenberg approach and without any mathematical simplifications. The presented model obviates the existing shortcomings in reference model in MATLAB robotic toolbox and it can be an appropriate substitution for robotic toolbox. A numerical comparison, employing different inputs, is utilized to illustrate the accuracy of the mentioned model.
Keywords
manipulator dynamics; Denavit-Hartenberg; MATLAB robotic toolbox; PUMA 560 robot arm; PUMA 560 robot manipulators; closed-form dynamic model; Acceleration; Equations; Kinematics; MATLAB; Manipulator dynamics; Mathematical model; Motion control; Power system modeling; Robot sensing systems; Torque; Cristoffel symbol; Dynamic modeling; MATLAB robotic toolbox; Standard Denavit-Hartenberg;
fLanguage
English
Publisher
ieee
Conference_Titel
Autonomous Robots and Agents, 2009. ICARA 2009. 4th International Conference on
Conference_Location
Wellington
Print_ISBN
978-1-4244-2712-3
Electronic_ISBN
978-1-4244-2713-0
Type
conf
DOI
10.1109/ICARA.2000.4803940
Filename
4803940
Link To Document