Steps towards real time simulation of robot dynamics

Recent progress has been made in simulation of off-line programmed robot motions by encapsulating original algorithms of the real control system like inverse kinematics and trajectory generation. The visualized robot motions in that kind of CAE software are realistic in the sense that the programmed desired motion of the robot is shown in real time and in a realistic way. hi the next step of the development of realistic simulation tools the user should have information about the dynamic behaviour of the robot to predict the difference between desired and actual positions. To calculate this deviations in real time, approximate dynamic models are needed which decrease decisively the effort to calculate the model and which have low loss in model accuracy. In. this paper a method to generate such efficient models is presented. The fundamental principle is to consider the motion state of the robot arm as probabilistic events. Some mathematical terms are then neglected in respect to the whole motion state. These reductions results a model, which has extensive savings of mathematical operations and has minimal effects (deviations) on the performance compare to complete model.