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The explicit dynamic model and inertial parameters of the PUMA 560 arm
Abstract
To provide COSMOS, a dynamic model based manipulator control system, with an improved dynamic model, a PUMA 560 arm was disassembled; the inertial properties of the individual links were measured; and an explicit model incorporating all of the non-zero measured parameters was derived. The explicit model of the PUMA arm has been obtained with a derivation procedure comprised of several heuristic rules for simplification. A simplified model, abbreviated from the full explicit model with a 1% significance criterion, can be evaluated with 805 calculations, one fifth the number required by the recursive Newton-Euler method. The procedure used to derive the model is laid out; the measured inertial parameters are presented, and the model is included in an appendix.
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Citations
Cited by
Van, M., Ge, S. S., & Ren, H. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2016.2555307 · Cited by 486
Van, M., Mavrovouniotis, M., & Ge, S. S. (2019) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2017.2782246 · Cited by 478
Hybrid statistical modelling of the frequency response function of industrial robots
Nguyen, V., & Melkote, S. (2021) · Robotics and Computer-Integrated Manufacturing · doi:10.1016/j.rcim.2021.102134 · Cited by 51
Taefi, M., & Khosravi, M. A. (2024) · International Journal of Robust and Nonlinear Control · doi:10.1002/rnc.7379 · Cited by 13
Metadata
- Authors
- Armstrong, B., Khatib, O., & Burdick, J.
- Venue
- Proceedings. 1986 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 1986
- Pages
- 510-518
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2128135221
- Cited by
- 613
- References
- 0
- FWCI
- 15.95
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: The explicit dynamic model and inertial parameters of the PUMA 560 arm. https://app.cochat.ai/papers/10.1109/robot.1986.1087644
- The paper
- Armstrong, B., Khatib, O., & Burdick, J. (1986). The explicit dynamic model and inertial parameters of the PUMA 560 arm. Proceedings. 1986 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1986.1087644
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
