Dynamic Model of a 3 DOF Direct Drive Robot and Its Control Mode

摘要

This paper presents a dynamic model for a robot with 3 rotational degrees of freedom (DOF) via mathematica software package based on Euler-Lagrange formulation. Then, by comparing and analyzing the results of voltage and current control modes to robots, the optimum control mode for direct-drive robots should be the current control mode is advised. Finally, this paper presents how to select drive motors for direct-drive robots by simulating the robot dynamic model. The direct-drive robot is usually used for the research of nonlinear control and visual servo control.