DocumentCode
485821
Title
The Dynamics of the PUMA Manipulator
Author
Paul, Richard P. ; Rong, Ma ; Zhang, Hong
Author_Institution
School of Electrical Engineering, Purdue University
fYear
1983
fDate
22-24 June 1983
Firstpage
491
Lastpage
496
Abstract
Symbolic equations defining the effective joint inertias and gravity loading torques for the Unimate PUMA manipulator are derived. These equations define the inertias to within 10% and the gravity torques to within 1%. The equations are very simple and are suitable for on-line computation. They also give insight into the general control problem.
Keywords
Actuators; Control systems; Delay; Equations; Feedback; Force control; Gravity; Manipulator dynamics; Servomechanisms; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1983
Conference_Location
San Francisco, CA, USA
Type
conf
Filename
4788163
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