Model Inversion of a Two Degrees of Freedom Linearized PUMA from Bicausal Bond Graphs

A bond graph model of a two degrees of freedom PUMA is described. System inversion gives the system input required to generate a given system output. In order to get the system inversion of the PUMA manipulator, a linearization of the nonlinear bond graph is obtained. Hence, the bicausality of the linearized bond graph of the PUMA manipulator is applied. Thus, the bicausal bond graph provides a systematic way of generating the equations of the system inversion. Simulation results to verify the calculated input for a given output are shown.

Authors:

• Gilberto Gonzalez-A
• Ignacio Rodríguez- A.
• Dunia Nuñez-P

Keywords:

• Bond graph
• system inversion
• bicausality
• PUMA manipulator

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