A study on dynamic motion equations for a robot manipulator

로보트 팔의 제어를 위한 Dynamics 방정식들에 관한 연구

  • Published : 1987.10.01

Abstract

In this paper, it is dealt with the dynamic motion equations for a robot arm. Four kinds of the dynamic equations which are the Lagrange-Euler equations, the Recursive L-E equations, the Newton-Euler equations and the improved N-E equation are derived on robot PUMA 600. Finally the algorithms on these equations are programmed using PASCAL. and are compared with each other. As the results, it is found that the improved N-E equations has the most fastest execution time among the equations and can be used in real time processing.

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