The Dynamic Performance of Robot Manipulators Under Different Operating Conditions

The dynamical performance of robot manipulators is greatly affected by the different payloads handled by the end effector (hand). Hence, it is very important, especially for industrial applications, to study the different interconnected relationships between the manipulator joints, speeds, loads and actuation forces. In this paper, a simplified symbolic Lagrangian representation of the different terms presented, with emphasis on the coriolis and centripetal effects. The accuracy and computational efficiency of this new formulation is demonstrated by simulation of a Stanford and PUMA 560 manipulator. Useful quantitative measurements and error analysis are also included on the significance of coriolis and centripetal terms under different load and speed conditions.