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Published April 1986 | Published
Book Section - Chapter Open

The explicit dynamic model and inertial parameters of the PUMA 560 arm

Abstract

To provide COSMOS, a dynamic model based manipulator control system, with an improved dynamic model, a PUMA 560 arm was disassembled; the inertial properties of the individual links were measured; and an explicit model incorporating all of the non-zero measured parameters was derived. The explicit model of the PUMA arm has been obtained with a derivation procedure comprised of several heuristic rules for simplification. A simplified model, abbreviated from the full explicit model with a 1% significance criterion, can be evaluated with 805 calculations, one fifth the number required by the recursive Newton-Euler method. The procedure used to derive the model is laid out; the measured inertial parameters are presented, and the model is included in an appendix.

Additional Information

© 1986 IEEE. Financial support for the first author has been provided by Hewlett Packard Co., through their Faculty Development Program. Partial support was provided by NSF under contract MEA 80-19628, and by DARPA through the Intelligent Task Automation Project, managed by the Air Force Materials Laboratory, under a subcontract to Honeywell, contract F 33615-82-C-5092.

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August 19, 2023
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