Development of a dynamics model for the Baxter robot

Smith, Alex; Yang, Chenguang; Li, Chunxu; Ma, Hongbin; Zhao, Lijun

Abstract

© 2016 IEEE. The dynamics model of a robot is important to find the relation between the joint actuator torques and the resulting motion. There are two common methods to do this: The Lagrange formulation, which gives a closed form of the dynamics equations, and the Newton-Euler method, which uses a recursive form. Presented in this paper is a formulation of the Lagrange-Euler (L-E) equations representing the dynamics of the Baxter manipulator. These equations are then verified against torque trajectories recorded from the Baxter robot. Experimental studies show that torques generated using the L-E method closely match recorded actuator torques. All of Baxter's kinematic and dynamics parameters are presented here for easy future reference, and the full symbolic dynamics are made available online for closed loop analysis by the community.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
• Start Date: Aug 7, 2016
• End Date: Aug 10, 2016
• Acceptance Date: Jun 3, 2016
• Online Publication Date: Sep 5, 2016
• Publication Date: Sep 1, 2016
• Deposit Date: Sep 3, 2019
• Publicly Available Date: Sep 4, 2019
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Pages: 1244-1249
• ISBN: 9781509023967
• DOI: https://doi.org/10.1109/ICMA.2016.7558740
• Public URL: https://uwe-repository.worktribe.com/output/2711879