Abstract：With a method different from some reference's(3〕,without any assumption abo-ut the arm structures the inertia data of robot PUMA 560 have been computed bymeans of practical measurement and reference to some mechanical drawings withoutmarked size and 258 dynamic parameters of six joints are correctly derived in symbolicform.Thereby a full set of dynamic equations has been obtained.It provides a satisfa-ctory model for dynamic control purpose.The dynamic equations of the first threejoints have been used in the paper(1〕with very encouraging results.
Bejczy A K,Robot Arm Dynamics and Control,JPL Technical Memorandum 33-669,1974
[2]
Paul R P,Robot manipulators;mathematics,programming and control,The MIT Press,1981:169-172
[4]
Unimate PUMA MARK II Robot,500 Serics Mechanical Drawing Set,Unimation Incorporated,Danbury CT 06810,1984
[1]
Bejczy A K,Tarn T J,Yun Xiaoping,Han Shuotiao,Nonlinear feedback control of PUMA 560 robot arm by computer,Proceedings of 24th IEEE 'Conference on Decision and Control,Fort Lauderdale,FL U,S,A,1985:11-13
[3]
Paul R P,Ma Rong,The Dynamics of the PUMA Manipulator Purdue University,TR-EE-82-34,1984
