Modelling and simulation of an industrial robot

摘要

The dynamic mathematical model of a redundant industrial manipulator is described. The model has been obtained by exploiting the features of a continuous-system modular simulation code. These features make it possible to bypass the difficulties related to closed-mechanical chain modeling. A partial validation of the model has been carried out on the basis of experimental test results. Experimental and simulation data are shown and compared.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>