Simulation of the dynamics of an industrial robot

The authors describe the design, dynamical analysis, and control simulation of an industrial robot manipulator. The choice of links and motors is explained in practical terms. Dynamics modeling is done in terms of the Lagrange-Euler formulation. Proportional-integral-differential and computed-torque-controllers are then used to simulate the control of the arm. Simulation results are provided for different parameters values and different control commands. A complete overview of the design, dynamic modeling, and control of a robot manipulator such as the one presented by the authors should be of benefit for undergraduate students, because many do not have a formal course on robotics in their curriculum