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

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.