Automatic configuration of the dynamic model for common industrial robots

Abstract

Robot control software inherently depends on the mechanical structure of a given robot making it difficult to reuse and to share software among different robot types. Therefore motion control systems come in very large diversities. A specific goal of the project DodOrg (Digital On-demand Computing Organism for Real-time Systems) within the priority programme 1183 "Organic Computing" is the development of an organic robot control system. This is a generalized and self-configuring control system applicable to the motion control of a wide class of different robot types. Especially is automates the solving of the clumsy kinematic and dynamic equations necessary for motion control and offers functionalities for automate trajectory generation. This paper focuses on the dynamic robot model and describes how to automatically derive the dynamic equations from a declarative specification of the robot as well as the graphical user interface by which this process is invoked. In particular we generate the complete Lagrangian dynamic model for general serial manipulators.