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The explicit dynamic model and inertial parameters of the PUMA 560 arm

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3 Author(s)
Armstrong, B. ; Stanford University ; Khatib, O. ; Burdick, J.

To provide COSMOS, a dynamic model based manipulator control system, with an improved dynamic model, a PUMA 560 arm was disassembled; the inertial properties of the individual links were measured; and an explicit model incorporating all of the non-zero measured parameters was derived. The explicit model of the PUMA arm has been obtained with a derivation procedure comprised of several heuristic rules for simplification. A simplified model, abbreviated from the full explicit model with a 1% significance criterion, can be evaluated with 805 calculations, one fifth the number required by the recursive Newton-Euler method. The procedure used to derive the model is laid out; the measured inertial parameters are presented, and the model is included in an appendix.

Published in:

Robotics and Automation. Proceedings. 1986 IEEE International Conference on  (Volume:3 )

Date of Conference:

Apr 1986