Forward and inverse dynamics for robot, unable to build robot model.
Hello, I'm learning kinematics and dynamics using Robotic Toolbox Matlab. To perform dynamics (inverse and forward), first I have to build robot model. For that, I took Puma560 data and tried. Code is given below: %define link mass L(1).m = 4.43; L(2).m = 10.2; L(3).m = 4.8; L(4).m = 1.18; L(5).m = 0.32; L(6).m = 0.13; %define center of gravity L(1).r = [ 0 0 -0.08]; L(2).r = [ -0.216 0 0.026]; L(3).r = [ 0 0 0.216]; L(4).r = [ 0 0.02 0]; L(5).r = [ 0 0 0]; L(6).r = [ 0 0 0.01]; %define link inertial as a 6-element vector %interpreted in the order of [Ixx Iyy Izz Ixy Iyz Ixz] L(1).I = [ 0.195 0.195 0.026 0 0 0]; L(2).I = [ 0.588 1.886 1.470 0 0 0]; L(3).I = [ 0.324 0.324 0.017 0 0 0]; L(4).I = [ 3.83e-3 2.5e-3 3.83e-3 0 0 0]; L(5).I = [ 0.216e-3 0.216e-3 0.348e-3 0 0 0]; L(6).I = [ 0.437e-3 0.437e-3 0.013e-3 0 0 0]; %define motor inertia L(1).Jm = 200e-6; L(2).Jm = 200e-6; L(3).Jm = 200e-6; L(4).Jm = 33e-6; L(5).Jm = 33e-6; L(6).Jm = 33e-6; %define gear ratio L(1).G = -62.6111; L(2).G = 107.815; L(3).G = -53.7063; L(4).G = 76.0364; L(5).G = 71.923; L(6).G = 76.686; % motor viscous friction L(1).B = 1.48e-3; L(2).B = .817e-3; L(3).B = 1.38e-3; L(4).B = 71.2e-6; L(5).B = 82.6e-6; L(6).B = 36.7e-6; % motor Coulomb friction L(1).Tc = [ .395 -.435]; L(2).Tc = [ .126 -.071]; L(3).Tc = [ .132 -.105]; L(4).Tc = [ 11.2e-3 -16.9e-3]; L(5).Tc = [ 9.26e-3 -14.5e-3]; L(6).Tc = [ 3.96e-3 -10.5e-3]; % create links using D-H parameters L(1).l = Link([ 0 0 0 pi/2 0], 'standard'); L(2).l = Link([ 0 .15005 .4318 0 0], 'standard'); L(3).l = Link([0 .0203 0 -pi/2 0], 'standard'); L(4).l = Link([0 .4318 0 pi/2 0], 'standard'); L(5).l = Link([0 0 0 -pi/2 0], 'standard'); L(6).l = Link([0 0 0 0 0], 'standard'); % set limits for joints L(1).l.qlim=[deg2rad(-160) deg2rad(160)]; L(2).l.qlim=[deg2rad(-125) deg2rad(125)]; L(3).l.qlim=[deg2rad(-270) deg2rad(90)]; %build the robot model puma560 = SerialLink(L, 'name','Puma 560');
Kshitij Singh answered .
2025-11-20
try this:
% create links using D-H parameters L(1) = Link([ 0 0 0 pi/2 0], 'standard'); L(2) = Link([ 0 .15005 .4318 0 0], 'standard'); L(3) = Link([0 .0203 0 -pi/2 0], 'standard'); L(4) = Link([0 .4318 0 pi/2 0], 'standard'); L(5) = Link([0 0 0 -pi/2 0], 'standard'); L(6) = Link([0 0 0 0 0], 'standard'); %define link mass L(1).m = 4.43; L(2).m = 10.2; L(3).m = 4.8; L(4).m = 1.18; L(5).m = 0.32; L(6).m = 0.13; %define center of gravity L(1).r = [ 0 0 -0.08]; L(2).r = [ -0.216 0 0.026]; L(3).r = [ 0 0 0.216]; L(4).r = [ 0 0.02 0]; L(5).r = [ 0 0 0]; L(6).r = [ 0 0 0.01]; %define link inertial as a 6-element vector %interpreted in the order of [Ixx Iyy Izz Ixy Iyz Ixz] L(1).I = [ 0.195 0.195 0.026 0 0 0]; L(2).I = [ 0.588 1.886 1.470 0 0 0]; L(3).I = [ 0.324 0.324 0.017 0 0 0]; L(4).I = [ 3.83e-3 2.5e-3 3.83e-3 0 0 0]; L(5).I = [ 0.216e-3 0.216e-3 0.348e-3 0 0 0]; L(6).I = [ 0.437e-3 0.437e-3 0.013e-3 0 0 0]; %define motor inertia L(1).Jm = 200e-6; L(2).Jm = 200e-6; L(3).Jm = 200e-6; L(4).Jm = 33e-6; L(5).Jm = 33e-6; L(6).Jm = 33e-6; %define gear ratio L(1).G = -62.6111; L(2).G = 107.815; L(3).G = -53.7063; L(4).G = 76.0364; L(5).G = 71.923; L(6).G = 76.686; % motor viscous friction L(1).B = 1.48e-3; L(2).B = .817e-3; L(3).B = 1.38e-3; L(4).B = 71.2e-6; L(5).B = 82.6e-6; L(6).B = 36.7e-6; % motor Coulomb friction L(1).Tc = [ .395 -.435]; L(2).Tc = [ .126 -.071]; L(3).Tc = [ .132 -.105]; L(4).Tc = [ 11.2e-3 -16.9e-3]; L(5).Tc = [ 9.26e-3 -14.5e-3]; L(6).Tc = [ 3.96e-3 -10.5e-3]; % set limits for joints L(1).qlim=[deg2rad(-160) deg2rad(160)]; L(2).qlim=[deg2rad(-125) deg2rad(125)]; L(3).qlim=[deg2rad(-270) deg2rad(90)]; %build the robot model puma560 = SerialLink(L, 'name','Puma 560');