Dynamics Modeling of Spraying Robot using Lagrangian Method with Co-simulation Analysis

摘要

For the research on drag assist control of spraying robot, the dynamics model of the spraying robot is established using Lagrangian dynamics modeling method from the energy point of view for the spraying robot with 6-DOF. The Sim-scape dynamic model of the robot was established by simulation software, and the simulation analysis of the joint torque was carried out. The 3D robot model was imported into simulation software for motion simulation, which further verified the correctness of the dynamic torque model. Finally, the dynamic model was simplified and verified. The simulation results show that the modeling method is correct and effective, and it is an important theoretical basis for the follow-up research of drag assist control and the experiment of dynamics identification.