Dfvlr Models 1 and 2 of the Manutec R3 Robot

摘要

A mathematical model of the dynamics of the Manutec r3 robot is described. The model has different degrees of complexity, depending on the effects investigated. Model 1 is a multibody model with 6 degrees of freedom, and model 2 is a model with 3 degrees of freedom. The numerical values of all model parameters are given, and FORTRAN 77 subroutines are documented to numerically evaluate the equations of motion of the 2 models. Most of the model parameters were acquired by measurements in the laboratory. The FORTRAN 77 subroutines are generated symbolically by a multibody program. The mathematical models may be applied for supporting computer-aided control design, dynamic trajectory planning, and dynamic simulations.