A data and software model for robot manipulator control

摘要

This paper considers software design, the choice of algorithms and implementation characteristics in a robot system to solve the dynamic model and evaluate and develop tools to implement control algorithms. OMT methodology has been used to design the software because it permits several levels of abstractions. lagrange-Euler formulation has been chosen and has bene reformulated to adapt it to the control algorithms. Finally in the implementation aspects the objective has bene to reduce computing time using parallel algorithms and analysing the properties of the equations abstraction defined. All these aspects have been used on solve the identification of the inertial parameters for a Puma robot by energy equation and adaptive control algorithms. Copyright ~direct 2000 IFAC