The Manutec r3 benchmark models for the dynamic simulation of robots

Abstract

A detailed dynamic model of the industrial robot Siemens Manutec r3 is described. The parameters of the model have been acquired by measurements in our laboratory. Simulation results of the model are presented as generated by the ANDECS R fl simulation environment. The model serves as a demanding benchmark problem to test the modeling and simulation capabilities of robot simulation packages. It is also used to investigate computer aided methods for control system design and dynamic trajectory planning. 1 Introduction In this paper a detailed dynamic model of the industrial robot Siemens Manutec r3 is presented. All important physical effects are modelled: the multibody dynamics, the friction, elasticity, damping and backlash in the gear-boxes, the dynamics of the motors including the current controllers, the tachogenerators and the cascade controllers. All parameters of the model have been acquired by measurements in our laboratory by S. Turk [12, 7, 13]. The parameters of the posit...