Modeling and simulation methodology applied in the study case of the analysis of an anthropomorphic manipulator robot

This paper presents a novel modeling and simulation methodology applied in the study case of dynamic behavior analysis of a manipulator robot of three degree freedom, so to consider the full mathematical model of the manipulator it is possible to provide support for planning, design and evaluation of the robot, later, an evaluation of the control strategies is performed by adding a PD control with gravity torque compensation. The simulations are executed and it shows the compensation of the gravity effects during the point-to-point trajectory tracking, and therefore the validation of the methodology is done.