Dynamics study on waste hand-picking robot

Dynamic model of waste hand-picking robot was established with Kane dynamic equation. The causes of poor trajectory tracking performance, low control precision and severe joint vibration during robot operation were analyzed from dynamics view, which offered a basis for the structural optimization, trajectory planning and the accurate control of the robot. The variation curves of driving torque of several joints were obtained after programming in MATLAB. The study results showed that the dynamic characteristics greatly affected the robot operation.