Inverse dynamic analysis and position error evaluation of the heavy-duty industrial robot with elastic joints: an efficient approach based on Lie group

Heavy-duty industrial robots have great advantages in the manufacturing industry. Considering the heavy process load and low stiffness of the robot, an accurate and efficient dynamic model plays an important role in the behavior analysis and performance improvement in the robot. This paper presents a novel methodology for the inverse dynamic analysis of the heavy-duty industrial robot with elastic joints. In particular, high-order kinematics and dynamics are concisely deduced using Lie group to deal with elastic joints for the robot inverse dynamic analysis. Meanwhile, position errors of the end-effector due to elastic joints are evaluated through the inverse dynamic analysis when the robot is in heavy-duty applications. Compared with previous approaches, the advantage of proposed method is that new formulas for inverse dynamic analysis are shown to be more concise and computationally efficient using Lie group. Moreover, the position error evaluation method considering dynamic forces is proved to be more accurate than the traditional method when the robot is in the high-speed application. Because of the high computational efficiency and accurate evaluation results, the proposed approach is applicable to trajectory optimization and position error compensation, especially for the robot in heavy-load and high-speed applications.