Title :
The Dynamics of the PUMA Manipulator
Author :
Paul, Richard P. ; Rong, Ma ; Zhang, Hong
Author_Institution :
School of Electrical Engineering, Purdue University
Abstract :
Symbolic equations defining the effective joint inertias and gravity loading torques for the Unimate PUMA manipulator are derived. These equations define the inertias to within 10% and the gravity torques to within 1%. The equations are very simple and are suitable for on-line computation. They also give insight into the general control problem.
Keywords :
Actuators; Control systems; Delay; Equations; Feedback; Force control; Gravity; Manipulator dynamics; Servomechanisms; Torque control;
Conference_Titel :
American Control Conference, 1983
Conference_Location :
San Francisco, CA, USA
