The Dynamics of the PUMA Manipulator

Symbolic equations defining the effective joint inertias and gravity loading torques for the Unimate PUMA manipulator are derived. These equations define the inertias to within 10% and the gravity torques to within 1%. The equations are very simple and are suitable for on-line computation. They also give insight into the general control problem.

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[2]  R. Paul,et al.  Kinematic control equations for simple manipulators , 1978, 1978 IEEE Conference on Decision and Control including the 17th Symposium on Adaptive Processes.