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Development of a dynamics model for the Baxter robot

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

Development of a dynamics model for the Baxter robot Thumbnail


Chunxu Li

Hongbin Ma

Lijun Zhao


© 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
Public URL


Lagrange-Euler Closed Dynamics Model of the Baxter Robot (902 Kb)

Technical Information
(c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.

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