Real-time solving of dynamic problem in industrial robots

Purpose – The purpose of this paper is to present the development and validation of a methodology which allows modeling and solving the inverse and direct dynamic problem in real time in robot manipulators.Design/methodology/approach – The robot dynamic equation is based on the Gibbs‐Appell equation of motion, yielding a well‐structured set of equations that can be computed in real time. This paper deals with the implementation and calculation of the inverse and direct dynamic problem in robots, with an application to the real‐time control of a PUMA 560 industrial robot provided with an open control architecture based on an industrial personal computer.Findings – The experimental results show the validity of the dynamic model and that the proposed resolution method for the dynamic problem in real time is suitable for control purposes.Research limitations/implications – The accuracy of the applied friction model determines the accuracy of the identified overall model and consequently of the control. This i...

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