The explicit dynamic model and inertial parameters of the PUMA 560 arm

To provide COSMOS, a dynamic model baaed manipulator control system, with an improved dynamic model, a PUMA 560 arm waa diaaaaembled; the inertial propertiea of the individual links were meaaured; and an ezplicit model incorporating all ofthe non-zero meaaured parametera waa deriued. The ezplicit model of the PUMA arm has been obtained with a derivation procedure comprised of aeveral heuristic rulea for simplification. A aimplijied model, abbreviated from the full ezplicit model with a 1% aignijicance criterion, can be evaluated with 305 calculationa, one fifth the number required by the recuraive Newton-Euler method. The procedure used to derive the model i a laid out; the meaaured inertial parametera are preaented, and the model ia included in an appendiz.