Title :
Closed-form dynamic model of PUMA 560 robot arm
Author :
Izadbakhsh, Alireza
Author_Institution :
Dept. of Electr. Eng., Islamic Azad Univ., Garmsar
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;
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
DOI :
10.1109/ICARA.2000.4803940
