Closed-form dynamic model of PUMA 560 robot arm

Abstract

This paper investigates an explicit dynamic model of the PUMA 560 robot manipulators, based on standard Denavit-Hartenberg approach and without any mathematical simplifications. The presented model obviates the existing shortcomings in reference model in MATLAB robotic toolbox and it can be an appropriate substitution for robotic toolbox. A numerical comparison, employing different inputs, is utilized to illustrate the accuracy of the mentioned model.