Derivation and verification of the dynamic model for the PA10-6CE robotic manipulator

Abstract

This paper presents a novel dynamic model derivation for the PA10-6CE manipulator. The model consists of: gravity term based on manufacturer specifications, non-parametric friction term estimated experimentally, inertia, Coriolis and centrifugal terms computed based on simplified geometric link models and motor inertia estimated experimentally. The incorporation of the model terms is firstly analysed with a comparison of simulated and experimental closed-loop control tasks. Model-based controller performance is then evaluated and analysed in terms of complexity versus tracking error performance. The model-based controllers implemented are feedback linearisation, Slotine-Li and Wen-Bayard. Model-based controller performance is evaluated and analysed in terms of complexity versus tracking error performance.