An Efficient approach for Manipulator Robot dynamics modeling

Abstract

This paper presents dynamic modeling and simulation of a 3 Degrees of freedom manipulator robot using Matlab/SimMechanics. The paper shows how quickly and easily presenting robot in block diagram can solve the complicated forward and inverse dynamic problem of the robot which is very difficult to analyze analytically. Motion planning of the robot joints are created and the inverse and forward dynamic models of the robot are simulated in SimMechanics to generate the torque and motion curves. The resultant torque curves are used to produce the forward dynamic, and obtain the required joints motion. Results showed very good agreement between the planned motion curves and the simulation motion curves which confirm the validity of the approach.