A novel approach for simplification of industrial robot dynamic model using interval method

摘要

This paper presents a novel approach to simplify the dynamic model of industrial robot by means of interval method. Due to strong nonlinearities and complexities, some components of robot dynamic model such as the inertia matrix and the vector of centrifugal, Coriolis and gravitational torques, are very complicated for real-time control of industrial manipulators. Thus, an interval-based simplification algorithm is proposed in this study in order to reduce the computation time and the memory occupation. Besides, it also contributes to finding negligible inertia parameters, which is useful for robot model identification. More importantly, the proposed approach is suitable for arbitrary trajectories in the whole robot workspace. Simulation studies have been carried out on a test trajectory using a 6-DOF industrial robot model, showing good performance and effectiveness of the simplification.