Abstract
This paper presents an efficient dynamic formulation for modeling and control of realistic six degrees-of-freedom robot manipulators. The basic dynamic formulation is based upon Kane’s approach. The zero-reference-position method is used to represent the robot and to formulate its governing kinematic equations. Both the inverse dynamics and the direct dynamic problems are discussed. The dynamic system model is controlled by utilizing a sophisticated feedback control scheme. The dynamic behavior of a robot with realistic complexity is examined with a view to investigate the effect of the system model errors on the precision of trajectory execution for the case when a good knowledge of the robot physical parameters may not be available.
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