DFVLR models 1 and 2 of the Manutec r3 robot

At the DFVLR Institute of Flight System Dynamics a mathematical model of the dynamics of the Manutec r3 industrial robot has been worked out in detail. This model has different degrees of complexity, depending on the effects one is interested in investigating. In this report the DFVLR model 1, which is a multibody model with 6 degrees of freedom, and the DFVLR model 2, which is a model with 3 degrees of freedom, are described. The model concept is outlined, the numerical values of all the model parameters are given, and FORTRAN 77 subroutines are documented to numerically evaluate the equations of motion of the two models. Most of the model parameters have been acquired by measurements in the laboratory. The FORTRAN 77 subroutines are generated symbolically by a multibody program. These mathematical models may be used for computer-aided dynamic studies, such as, for example, controller design, dynamic trajectory planning and dynamic simulation.