Symbolic and numerical investigation of manipulator performance limiting factors

The application of computer algebra and numerical simulation to investigate the dynamic performance limiting factors of a Puma 560 manipulator is discussed. Using simple computer algebra programs, it is possible to gain insight into the configuration-dependent dynamic terms and their effect on independent joint axis control strategies. The manipulator's base parameter set can be determined, and a form of the dynamic equations suitable for linear parameter identification can be generated, together with efficient run-time codes for computed-torque or feedforward control.<
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