<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This article presents an attempt to develop a simplified dynamic model of the Kawasaki RS010L industrial robot using the Matlab mathematical environment. This is a six-axis robot which, due to its light weight and high movement ability, is used for a wide range of tasks, such as palletising and assembling objects. It was assumed that all links are stiff and the robot’s wrist is a concentrated mass located at the end of the third arm. In addition, the axes are controlled independently of each other in this model. Essential parameters were identified using a real robot and the correctness of the developed model was verified.</p></abstract>

This article presents an attempt to develop a simplified dynamic model of the Kawasaki RS010L industrial robot using the Matlab mathematical environment. This is a six-axis robot which, due to its light weight and high movement ability, is used for a wide range of tasks, such as palletising and assembling objects. It was assumed that all links are stiff and the robot’s wrist is a concentrated mass located at the end of the third arm. In addition, the axes are controlled independently of each other in this model. Essential parameters were identified using a real robot and the correctness of the developed model was verified.

The Development and Verification of a Dynamic Model of the Kawasaki RS010L Industrial Robot

Technical Transactions

This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 Public License.

This article presents an attempt to develop a simplified dynamic model of the Kawasaki RS010L industrial robot using the Matlab mathematical environment. This...

The Development and Verification of a Dynamic Model of the Kawasaki RS010L Industrial Robot

Published Online: May 16, 2020

Page range: 147 - 159

Received: Mar 30, 2019

DOI: https://doi.org/10.4467/2353737XCT.19.049.10361

Keywords
robot dynamics, dynamics model of robot, Kawasaki RS010L

© 2020 Adrian Kozień, published by Sciendo

This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 Public License.

The Development and Verification of a Dynamic Model of the Kawasaki RS010L Industrial Robot

Published Online: May 16, 2020

Page range: 147 - 159

Received: Mar 30, 2019

DOI: https://doi.org/10.4467/2353737XCT.19.049.10361

Keywordsrobot dynamics, dynamics model of robot, Kawasaki RS010L

© 2020 Adrian Kozień, published by Sciendo

This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 Public License.

Keywords
robot dynamics, dynamics model of robot, Kawasaki RS010L