Dynamic Analysis of an Industrial Robot Manipulator Using Dual Numbers

Abstract

The dual algebra in this paper is used to solve in explicit form the dynamic model of a robotic manipulator with 5 degrees of freedom and 5R topology. The dynamic analysis is developed applying the dual momentum and the D'Alembert principle, allowing compute the dual reaction forces in each joint, the dual Jacobian is obtained from the dual velocity analysis, in this way a dual trajectory planning is proposed in order to extend the capabilities of a 3D simulation software for an Experimental Industrial Robotic Manipulator (EIRM), if the topology will change. Finally a comparison between the results of dual numbers and Lagrange - Euler formulation is made, with the purpose of determinate the dual algebra efficiency.