DYNAMICS AND CONTROL FOR DGR-5A ROBOT

The DGR-5A robot designed by us is an articulated one with five revolute joints driven by electricalservomotors.This paper discusses the dynamics and control problems of the robot.For this purpose,acoordinate frame is assigned to each link of the robot and various inertial parameters of each link arecomputed in detail.After deriving the dynamic equations of the first three joints and analysing the dy-namic behaviour,we propose a control strategy which may be easily realized in engineering practice be-cause of an efficient real-time control algorithm.The simulation results of the control strategy forDGR-5A robot are rather satisfactory.