Computer-assisted generation of robot dynamic models in an analytic form (Q759701)

An algorithm for constructing dynamic models of single-arm robots is presented in this paper. Motion equations of robots in analytical form are derived applying a fully automated procedure. It is shown that the solution of a direct and/or inverse problem based on the analytical model requires considerably fewer floating-point multiplications/additions than is the case with previously-developed numerical methods. The developed method is therefore very suitable for real-time application of robot dynamic models. The developed program package is illustrated using the example of a Stanford manipulator.