The Complete Dynamic Model and Customized Algorithms of the Puma Robot

In 1983, the computer program Algebraic Robot Modeler (ARM) was implemented to generate symbolically complete closed-form and recursive dynamic robot models. Then, in 1985, heuristic rules for the systematic organization of dynamic robot models were incorporated in ARM to reduce the computational requirements of forward and inverse dynamics calculations. For the robotics and control engineering communities, the dynamic coefficients and the complete closed-form ARM-generated symbolic dynamic model of the six degree-of-freedom (DOF) Puma robot (which has not heretofore appeared in the literature) are displayed. The performance of ARM is compared with recently introduced computational robot dynamics software. In spite of the analytic and numeric complexities of the complete closed-form dynamic model of the Puma robot, our findings indicate that 1) ARM-generated customized closedform algorithms can compute the inverse dynamics (i.e., the joint torques from the joint positions, velocities, and accelerations) twice as fast as the general-purpose recursive Newton-Euler algorithm, and 2) the ARM-generated customized recursive inverse dynamics algorithm can be evaluated twice as fast as the customized closed-form inverse dynamics algorithm.