EE 548: Project 4

Due Th 12/03/2015

This project will be to summarize two papers in which dynamic models of manipulators and associated parameters are mathematically and/or experimentally developed. For each paper, describe the industrial-type manipulator, method used for assigning reference frames to links, and approach taken to develop the dynamics and identification of parameters, and comment on the structure of the model (same form as that developed in class?). The well-cited paper below will be one of the papers to consider. For the second paper, find something similar, but for a different manipulator.

• Armstrong, B., O. Khatib, and J. Burdick, "The explicit dynamic model and inertial parameters of the PUMA 560 arm," Proceedings of the 1986 IEEE International Conference on Robotics and Automation, pp.510-518, Apr 1986