Modeling and simulation for cinematic and dynamic regime of an industrial articulated robot

In this paper the cinematic and dynamic regime of an articulated industrial robot is analyzed. Beginning from the mechanical constructive characteristic parameters like dimensions, weights, angles and speeds, the robot is first cinematically analyzed, determining the cinematic model as movement matrix. Second, is determined for each joint the dynamic model as differential equations. Based on the mathematical equations, the MatLab Simulink model is built and the simulation results are presented. The method and results can be used to determine the performances like: precision and stability.