ABB manipulator (model: IRB 140) with 6 DoF
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Geometric structure
Some notes about the model
we will assume that the CoM of link i coincides with joint i
there is a coordinate frame fixed in each joint and "Z" (depicted in red) is the joint axis of rotation
unfortunately, I do not know the dynamic parameters of the links, so let us use the following (arbitrary) values
masses of the six links
m = [6 5 4 3 2 1]
the inertia of link i (around the origin of the joint-fixed frame) expressed in the joint-fixed frame is given by
Ii = [
0.200
-0.070
0.007
-0.070
0.100
0.010
0.007
0.010
0.200]
*m(i)
Equations of motion
Check your result (q = [0;0;0;0;0;0], qd = [0.1;0.2;0.3;0.4;0.5;0.6])
Check your result (q = [pi/4;pi/4;pi/4;pi/4;pi/4;pi/4], qd = [0.1;0.2;0.3;0.4;0.5;0.6])