A Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots

At present, the absolute positioning accuracy and control of industrial serial robots need to be improved meet requirements precision manufacturing precise control. An accurate dynamic model is an important theoretical basis for solving this problem, parameters are prerequisite The research dynamics parameter identification can greatly promote application in field automation. In paper, we study dynamical modeling robot system with six rotational DOF (6R system) propose a new method identifying parameters. Our aim provide mathematical description 6R accurately identify its First, establish unconstrained rewrite it obtain model. Second, constraint equations system. Finally, constrained Through ADAMS simulation experiment, verify correctness experiments prove that result has extremely high describe mathematically. proposed paper used as dynamics-based theory.