Development and evaluation of a symbolic modelling tool for serial manipulators with any number of degrees of freedom

Kinematics and dynamics modelling of manipulators are essential for analysis, optimisation, control system design, and motion planning of the manipulators. Deriving these models is a time consuming task and it involves tedious mathematical calculations specifically for manipulators with more than two degrees of freedom. In this paper, development and evaluation of a symbolic modelling tool for the kinematic and dynamic equations of serial manipulators with revolute and prismatic joints are presented. The tool allows a quick access to the full kinematics and dynamics equations of the manipulators. The user only requires to provide the DH parameters for obtaining the kinematic model and the centre of the gravity, mass parameters and momentum of inertia matrices of the links to be able to obtain the dynamic model. The tool is shared for public access and it is aimed to benefit researchers or graduate students in the area of robotics. Evaluation of the models generated by the tool is demonstrated through its accuracy for control design of PUMA 560.

[1]  Ahmed A. Shabana,et al.  Dynamics of Multibody Systems , 2020 .

[2]  John J. Craig Zhu,et al.  Introduction to robotics mechanics and control , 1991 .

[3]  H Faessler,et al.  Computer-Assisted Generation of Dynamical Equations for Multibody Systems , 1986 .

[4]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[5]  Frank L. Lewis,et al.  Robot Manipulator Control: Theory and Practice , 2003 .

[6]  N. Hemati,et al.  Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators , 1986 .

[7]  Stefano Stramigioli,et al.  Exploiting the dynamics of a robotic manipulator for control of UAVs , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[8]  M. C. Leu,et al.  Computer generation of robot dynamics equations and the related issues , 1986, J. Field Robotics.

[9]  Peter I. Corke,et al.  A robotics toolbox for MATLAB , 1996, IEEE Robotics Autom. Mag..

[10]  Alois Knoll,et al.  User friendly Matlab-toolbox for symbolic robot dynamic modeling used for control design , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[11]  A. Bejczy.  Robot arm dynamics and control , 1974 .

[12]  Frank Chongwoo Park,et al.  A Lie Group Formulation of Robot Dynamics , 1995, Int. J. Robotics Res..

[13]  Bruno Siciliano,et al.  Modelling and Control of Robot Manipulators , 1997, Advanced Textbooks in Control and Signal Processing.

[14]  Jan Peters,et al.  Model learning for robot control: a survey , 2011, Cognitive Processing.

[15]  Oussama Khatib,et al.  The explicit dynamic model and inertial parameters of the PUMA 560 arm , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[16]  Thomas R. Kane,et al.  The Use of Kane's Dynamical Equations in Robotics , 1983 .

[17]  James U. Korein,et al.  Robotics , 2018, IBM Syst. J..

[18]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[19]  M. Spong,et al.  Robot Modeling and Control , 2005 .

[20]  Jorge Angeles,et al.  Fundamentals of Robotic Mechanical Systems , 2008 .

[21]  L. W. Tsai,et al.  Robot Analysis: The Mechanics of Serial and Parallel Ma-nipulators , 1999 .