Inverse Dynamic Analysis of Hobby Robot uArm by Matlab/Simulink

Abstract

Inverse dynamic analysis of robot manipulator with closed kinematic structure is performed in the paper. Dynamic model is developed using second generation blocks from Simulink/Simscape/SimMechanics library. Presented approach is applied on hobby robot uArm. Manipulator's links are created using 3D CAD models in form of step files. The mass and inertia properties of links are automatically calculated based on geometry defined by step files and link density, defined by user. The actuator torques acting at joints needed to acheive imposed joint motion are computed using inverse dynamics. Validity of the dynamic model is confirmed by comparison of coordinates of TCP obtained during simulation with analytical solution of direct kinematics.