Abstract
For the flexible control problem of industrial manipulator, the dynamic model of its manipulator is established. Firstly, according to the D-H kinematics model modeling method, the kinematics coordinate system of the 6-DOF manipulator is established. On the basis of obtaining the D-H parameters, the forward kinematics model of the manipulator is established, and the correctness of the kinematics model is verified by Simulink program. Secondly, the dynamic model of the manipulator is derived by using the Newton-Euler equation and the kinematic model of the manipulator obtained previously. The virtual prototype of the manipulator is established by Adams, and the correctness of the established dynamic model is verified by dynamic simulation. The established dynamic model of the manipulator will provide a theoretical basis for its flexible control.
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Acknowledgements
The authors gratefully acknowledge the financial supports for this research from National key research and development plan project (2018YFB1308100). This work is supported by Zhejiang Provincial Natural Science Foundation under Grant LQ21F020026, Science Foundation of Zhejiang Sci-Tech University(ZSTU) under Grant No.19022104-Y. General Scientific Research Project of Zhejiang Provincial Department of Education Grant No.19020038-F,19020033-F.
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Jing, Y., Gao, W., Han, Z., Hu, M. (2021). Dynamics Modeling and Multi-condition Analysis for 6-DOF Industrial Manipulator. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_55
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DOI: https://doi.org/10.1007/978-3-030-89134-3_55
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