Abstract
In order to realize the precise control of the cooperative robot, it is necessary to establish an accurate dynamic model of the robot. Compared with traditional industrial robots, cooperative robots have joint flexibility effect, so joint flexibility should be taken into account when building dynamic model. In this paper, the six-axis cooperative robot is taken as the research object. The dynamic model of the robot is modeled and analyzed by Newton-Euler method based on screw theory. and the dynamic simulation of the robot is carried out based on Simulink and SimMechanics simulation platform, and the relevant performance curves are obtained. The simulation results verify the validity of the dynamic theoretical model.
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