The inverse kinematics solution, closed-form dynamics and simulation of AdeptOne robot

An explicit dynamic model of the AdeptOne industrial manipulator is presented. A systematic derivation procedure based on the Euler-Lagrange formulation is used for deriving five nonlinear second-order differential equations of motion. A summary of the arm´s inverse kinematics solution for position, velocity and acceleration is included which is accomplished by using a symbolic algebraic matrix manipulation package MAPLE. Extensive simulation results are presented to illustrate the relative significance of inertial (including inertial coupling), velocity-related (Coriolis and centrifugal), and gravity forces which are experienced at the individual joints while a 3-D motion of the hand wrist is executed in real-time. This kind of analysis allows the system cycle time to be minimized, facilitating the efficient implementation of the multivariable control algorithms