Abstract
Summary A dynamic model was developed based on the Lagrange equations which calculates the torques required to achieve a desired motion of the operating tool. Although carried out on a microcomputer the netted does not neglect basic tents and is believed to be very efficient regarding computational complexity. An Interactive computer program was written In which the user states the intial and final position and orientation of the robot tool center point (TCP), the maximum speed of the robot TCP, and date (weight and length) of the tool held by the robot. The output results are the six torques corresponding to the six joints of the robot throughout the desired motion and the full motion history. The program perform the calculations for various trajectories - straight lines in space, circles in horizontal planes or circles in vertical planes. Furthermore, the program calculates the torques that occur In the axes when static forces and torques act on the TCP. The calculations and program were made for the PUHA 600 robot, but the concept is suitable for all robots (including robots with translatory degrees of freedom), and appropriate changes can be made in the program without difficulty. The computer program was written in “Super Basic” on a “SINCLAIR QL” microcomputer. The computer has a total of 128k RAH, the length of the program written Is about 30k.
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