Solution for Dynamic Analysis of SCORBOT-ER Vu Plus Industrial Robot Manipulator

This paper concerns with the dynamic analysis of a SCORBOT-ER Vu plus robot arm, used for doing successful robotic manipulation task in its 3D workspace. The SCORBOT-ER Vu plus robot is a five DOF of vertical articulated robot and all the joints are revolute. The forces and/ or torques required to cause motion of a system of bodies was studied using dynamic analysis, which is very complicated one for robot manipulator. Usually, the end-effector is to be guided through a given path with suggested motion characteristics. The actuated joints are applied with a set of torque and /or force function, to produce that motion. This actuating torque and/or force functions depends on several parameters includes spatial attributes of given path, mass properties of links, payload, externally applied forces and so on. There are two different points of view namely dynamical analysis and dynamical synthesis to tackle the dynamics of robot manipulator. Dynamic analysis handles with the derivation of equations of motion of a given manipulator that involves two problems namely direct dynamics and inverse dynamics. Among the two, direct dynamics can be defined as a set of actuated joint torque and/or force functions, calculates the resulting motion of the end-effector as a function of time. While inverse dynamics is defined as a trajectory of the end-effector as a function of time, that finds the set of actuated joint torque and/or force functions producing that motion. The computational efficiency of direct dynamics is not taken into account, as it used primarily for computer simulations of a robot manipulator. While efficient inverse dynamic model is considered as important for real-time, model based control of a robot manipulator. The Lagrangian equations of motion and the principle of virtual work are utilized to carry out the dynamical analysis of robot manipulators. The mathematical model of dynamic parameter sets are solved using MATLAB 7.10 and dynamic solutions obtained is found to be identical with the real time readings of robot arm.