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To accurately predict low-order dynamic behaviors of the hybrid robot, an effective semi-analytical modeling approach of electromechanical coupling dynamics is proposed in this paper. The integrated dynamic model employs the motion command of the servo motor as the inputs and the dynamic response of the driven joint as the outputs. The dynamic error of the robot end under any nominal motion command can be accurately predicted with the solution of the model. The simulation results demonstrate that the dynamic error prediction method proposed for the hybrid robot exhibits high prediction accuracy and efficiency.

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Model Based Dynamic Error Prediction for Hybrid Robots

  • 会议论文

  • 发表日期：

    2025年

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  • Zilong Han,
  • Xianlei Shan,
  • Yijin Wang,
  • Haitao Liu,
  • Yi Guan

摘要

To accurately predict low-order dynamic behaviors of the hybrid robot, an effective semi-analytical modeling approach of electromechanical coupling dynamics is proposed in this paper. The integrated dynamic model employs the motion command of the servo motor as the inputs and the dynamic response of the driven joint as the outputs. The dynamic error of the robot end under any nominal motion command can be accurately predicted with the solution of the model. The simulation results demonstrate that the dynamic error prediction method proposed for the hybrid robot exhibits high prediction accuracy and efficiency.