Dynamic Modeling of Serial Manipulator Arms

[+] Author and Article Information
M. Thomas, D. Tesar

Center of Intelligent Machines and Robotics, University of Florida, Gainesville, Fla. 32611

J. Dyn. Sys., Meas., Control 104(3), 218-228 (Sep 01, 1982) (11 pages) doi:10.1115/1.3139701 History: Received November 10, 1981; Online July 21, 2009


To design and precisely control a manipulator requires a representative dynamic model of the system. This paper presents the derivation of a rigid-link model for the serial manipulator, which reduces all of the arm’s dynamic properties to their effective values at the generalized inputs. The component terms of the model are readily calculated from the dynamic influence coefficients, which are based only on the geometry of the system. All necessary influence coefficients for serial manipulators are given in a particularly simple form. The model formulation keeps the system parameters and the input dynamics explicit in the controlling equations of motion, such that analysis and dynamic response results can be obtained in the most direct manner. Dynamic analysis results for an industrial manipulator are presented.

Copyright © 1982 by ASME
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