Abstract
The research in robotics requires efficient and flexible software tools, which supports the user in modelling and simulating the robot dynamics. In order to design a decoupled control of any robot, the exact dynamic models of these robots have to be obtained. This paper presents a computer-aided method, to achieve the dynamic model of any robot. The software first evaluates the basic data of the robot kinematics and dynamics, which are fundamental for the equation of motion and for the digital simualtion of the robot dynamics. Then the tasks of an industrial controller for any robots are simulated to achieve realistic input values for the evaluation of forces/torques with the equation of motion and for the digital simulation of the robot dynamics. Finally the equation of motion is generated in a numerical-symbolical form.
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