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The explicit dynamic model and inertial parameters of the PUMA 560 arm

Armstrong, Brian and Khatib, Oussama and Burdick, Joel (1986) The explicit dynamic model and inertial parameters of the PUMA 560 arm. In: Proceedings. 1986 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 510-518. ISBN 9780818646959. http://resolver.caltech.edu/CaltechAUTHORS:20190612-075818151

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1986.1087644DOIArticle
Additional Information:© 1986 IEEE. Financial support for the first author has been provided by Hewlett Packard Co., through their Faculty Development Program. Partial support was provided by NSF under contract MEA 80-19628, and by DARPA through the Intelligent Task Automation Project, managed by the Air Force Materials Laboratory, under a subcontract to Honeywell, contract F 33615-82-C-5092.
Funders:
Funding AgencyGrant Number
Hewlett-Packard CompanyUNSPECIFIED
NSFMEA80-19628
Defense Advanced Research Projects Agency (DARPA)F 33615-82-C-5092
Record Number:CaltechAUTHORS:20190612-075818151
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190612-075818151
Official Citation:B. Armstrong, O. Khatib and J. Burdick, "The explicit dynamic model and inertial parameters of the PUMA 560 arm," Proceedings. 1986 IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, 1986, pp. 510-518. doi: 10.1109/ROBOT.1986.1087644
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96308
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:12 Jun 2019 15:30
Last Modified:12 Jun 2019 15:30

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