Xiao Li, Hanxu Sun, Linjing Liao, Jingzhou Song
Based on joint parameter and robot configuration, the Lagrange and Kane dynamics modeling are established for the 4-DOF modular industrial robot in this paper. The planning mission was performed in the Lagrange dynamics modeling and Kane dynamics modeling by simulation software. The simulation results shown that the Kane model is better than the Lagrange model in the 4-DOF robot. And the Kane model has better execution effect when the joint torque is greater.