Study on the Dynamics Control of Industrial Robot Modeling Based on Spatial Operator Algebra Theory
In order to improve the modeling efficiency of the industrial robot dynamics control, the recursive dynamics is studied based on the Spatial Operator Algebra (SOA) theory, and the procedure realization is built in the environment of Matahematica6.0 software. The high effective recursive forward and reward dynamics for the SOA theory, has a simple math expression and a clear physical meaning. The software structure of the forward and inverse dynamics is built and the industrial robot dynamics simulation model is realized based on the integrated procedure VB.NET and Mathematica 6.0. According to the analysis, the example of PUMA560 robot forward and inverse dynamics is studied, and correctness and validity is verified by computed examples.
Guanglin Wang, Huifeng Wang and Jun Liu
X. F. Fang et al., "Study on the Dynamics Control of Industrial Robot Modeling Based on Spatial Operator Algebra Theory", Key Engineering Materials, Vols. 392-394, pp. 975-979, 2009