The Impact of Simplifications of the Dynamic Model on the Motion of a Six-Jointed Industrial Articulated Robotic Arm Movement
Mehdi Fazilat,
Nadjet Zioui
Abstract:This research investigates the impact of model simplification on the dynamic performance of an ABB IRB-140 six-jointed industrial robotic arm, concentrating on torque prediction and energy consumption. The entire mathematical model of forward, reverse, differential kinematics, and dynamic model proposed based on the technical specifications of the arm, and to obtain the center of the mass and inertia matrices, which are essential components of the dynamic model, Utilizing Solidworks, we developed three CAD/CAM… Show more
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