The effects of dynamic models on robot control

The real-time and simulation performance of the computed-torque joint control technique employing four configurations of dynamic models in controlling a six degree of freedom robotic manipulator has been thoroughly evaluated over a set of twelve different operational situations. Simulation comparisons have been conducted to predict the repercussions of neglected dynamics on computed-torque performance. Real-time tests have been conducted using a PUMA-600 and modified controller. Real-time results do not adhere to the simulation predictions. The algorithm with the simplest dynamics performs best in real-time.