Efficient dynamics for a PUMA-600

Evaluation of the effects of dynamics on real-time closed loop robotic manipulator joint control requires accurate, computationally efficient dynamics algorithms. Through a study of open loop joint torques the dominant and negligible torque components for each link of a PUMA-600 have been identified so that prudent model reduction could be accomplished. An acceleration related matrix model which requires only 94 multiplications and 59 additions while achieving accuracy to within ten percent of the complete model has been developed and justified. Reduction of the Newton-Euler PUMA- 600 dynamics to 304 multiplications and 212 additions has also been achieved without any loss of accuracy. The developed algorithms support our real-time study of the effects of dynamics on robot control.